// Initialization
void Start()
{
//SIGVerseLogger.Info ("*********************************************** STARTING PLACING DATA COLLECTION **********************************************");
Texture texture = this.CreateTextureFromImageFile(teamLogoPath);
if (texture != null)
{
this.teamLogoRenderer.material.mainTexture = texture;
}
else
{
this.teamLogoRenderer.gameObject.SetActive(false);
}
this.step = PlacingStep.Initialize;
this.isAllTaskFinished = false;
this.fakeCount = 0;
this.scorePlacing = "";
if (sceneNumber >= totScenes)
{
this.step = PlacingStep.Final;
}
Vector3 size = test.GetComponent <Renderer> ().bounds.size;
SIGVerseLogger.Info("Objeto " + test.name + "Size x = " + size.x + " y =" + size.y + " z = " + size.z);
}
//To receive message from ros
public void OnReceiveRosMessage(RosBridge.handyman.HandymanMsg handymanMsg)
{
//SIGVerseLogger.Info ("MESSAGE RECEIVED" + handymanMsg.message);
if (handymanMsg.message == MsgIamReady)
{
this.step = PlacingStep.SetUpScene;
}
if (handymanMsg.message == MsgImagesCaptured)
{
tool.setTargetObject();
this.step = PlacingStep.ExcecutePlacing;
}
if (handymanMsg.message == MsgObjectPlaced)
{
this.step = PlacingStep.CalculateScore;
}
if (handymanMsg.message == MsgScoreSaved)
{
tool.disapearTarget();
this.step = PlacingStep.WaitForIamReady;
}
//Debug.Log ("Change " + this.step);
}
// Update is called once per frame
void Update()
{
try {
if (this.isAllTaskFinished)
{
return;
}
switch (this.step)
{
case PlacingStep.Initialize:
//Configure everything just the first time
if (tool.IsConnectedToRos())
{
this.step++;
}
break;
case PlacingStep.WaitForIamReady:
//Send Are you ready? message and wait for answer
this.SendRosMessage(MsgAreYouReady, string.Empty);
break;
case PlacingStep.SetUpScene:
//Cycle goes back here to start new scene
this.scorePlacing = "";
if (this.fakeCount < numOfScenes)
{
//Scene configuration and showing
this.setUpScene();
this.fakeCount++;
this.step++;
sceneNumber++;
this.scoreValText.text = "XXX";
this.sceneValText.text = sceneNumber.ToString();
this.strategy = UnityEngine.Random.Range(1, numStrategies + 1);
}
else
{
//When finishing the number of scenes configured goes to last step
this.step = PlacingStep.Stoping;
}
break;
case PlacingStep.WaitForImagesCaptured:
string cameraHeigth;
if (PlacingTools.typeLower)
{
cameraHeigth = "L-";
}
else
{
cameraHeigth = "U-";
}
//Send Setting completed message and wait for Images captured message from robot
//Sending camera height for metadata file
cameraHeigth += tool.getFurnitureID();
//Sending strategy number from 1 to max strategies number
cameraHeigth += "-" + this.strategy;
this.SendRosMessage(MsgSettingCompleted, cameraHeigth);
break;
//While robot is placing object on table, unity starts scoring manager for scene
case PlacingStep.ExcecutePlacing:
tool.startPlacing();
break;
//When receiving Object Placed message calculates score
case PlacingStep.CalculateScore:
this.scorePlacing = tool.finishPlacing();
this.step++;
break;
//Send score and wait for Score Saved message, finally goes back to WaitForIamReady
case PlacingStep.WaitForNextTask:
string sc = this.scorePlacing;
this.scoreValText.text = this.scorePlacing.Split(':')[0];
sc += "-" + tool.getTargetID();
this.SendRosMessage(MsgScore, sc);
tool.resetRobot();
break;
//When finished all scenes send Stop Process message
case PlacingStep.Stoping:
this.scenes.moveHouse();
this.scoreValText.text = "XXX";
this.SendRosMessage(MsgStopProcess, string.Empty);
this.isAllTaskFinished = true;
Start();
break;
case PlacingStep.Final:
this.sceneValText.text = "FINISHED";
this.SendRosMessage(MsgStopProcess, string.Empty);
this.isAllTaskFinished = true;
break;
}
} catch (Exception exception) {
SIGVerseLogger.Error(exception.Message);
SIGVerseLogger.Error(exception.StackTrace);
this.ApplicationQuitAfter1sec();
}
}
