private void PostProcess()
        {
            SIGVerseLogger.Info("Task end");

            if (HandymanConfig.Instance.numberOfTrials == HandymanConfig.Instance.configFileInfo.maxNumberOfTrials)
            {
                this.SendRosMessage(MsgMissionComplete, string.Empty);

                StartCoroutine(this.tool.CloseRosConnections());

                StartCoroutine(this.DisplayEndMessage());

                this.isAllTaskFinished = true;
            }
            else
            {
                this.tool.AddSpeechQueModerator("Let's go to the next session");

                StartCoroutine(this.tool.ClearRosConnections());

                this.step = ModeratorStep.WaitForNextTask;
            }
        }
Esempio n. 2
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        //-----------------------------

        private void InitializeMainPanel()
        {
            this.panelMainController.SetTeamNameText("Team: " + HumanNaviConfig.Instance.configInfo.teamName);

            if (this.isPracticeMode)
            {
                HumanNaviConfig.Instance.numberOfTrials = 1;
            }
            else
            {
                HumanNaviConfig.Instance.InclementNumberOfTrials(HumanNaviConfig.Instance.configInfo.playbackType);
            }

            this.numberOfSession = HumanNaviConfig.Instance.numberOfTrials;

            //this.panelMainController.SetTrialNumberText(HumanNaviConfig.Instance.numberOfTrials);
            this.panelMainController.SetTrialNumberText(this.numberOfSession);
            SIGVerseLogger.Info("##### " + this.panelMainController.GetTrialNumberText() + " #####");

            this.panelMainController.SetTaskMessageText("");

            this.scoreManager.ResetTimeLeftText();
        }
        public static System.Net.Sockets.TcpClient GetConnection(string rosBridgeIP, int sigverseBridgePort)
        {
            if (!canConnect)
            {
                throw new Exception("Cannot connect HSR. IP=" + rosBridgeIP + ", Port=" + sigverseBridgePort);
            }

            System.Net.Sockets.TcpClient tcpClient = new System.Net.Sockets.TcpClient();

            IAsyncResult connectResult = tcpClient.BeginConnect(rosBridgeIP, sigverseBridgePort, null, null);

            bool isConnected = connectResult.AsyncWaitHandle.WaitOne(TimeSpan.FromMilliseconds(SigverseRosbridgeConnectionTimeOut));

            if (!isConnected)
            {
                canConnect = false;

                SIGVerseLogger.Error("Failed to connect. IP=" + rosBridgeIP + ", Port=" + sigverseBridgePort);
                throw new Exception("Failed to connect. IP=" + rosBridgeIP + ", Port=" + sigverseBridgePort);
            }

            return(tcpClient);
        }
        private void Awake()
        {
            try
            {
                // For practice mode
                if (HumanNaviConfig.Instance.configInfo.executionMode == (int)ExecutionMode.Practice)
                {
                    this.GetComponent <HumanNaviPubTaskInfo>().enabled     = false;
                    this.GetComponent <HumanNaviPubMessage>().enabled      = false;
                    this.GetComponent <HumanNaviSubMessage>().enabled      = false;
                    this.GetComponent <HumanNaviPubAvatarStatus>().enabled = false;
                    this.GetComponent <HumanNaviPubObjectStatus>().enabled = false;

                    robot.transform.Find("RosBridgeScripts").gameObject.SetActive(false);
                    robot.GetComponentInChildren <HumanNaviSubGuidanceMessage>().enabled = false;

                    foreach (Camera camera in robot.transform.GetComponentsInChildren <Camera>())
                    {
                        camera.gameObject.SetActive(false);
                    }
                }

                this.robot.SetActive(false);
                this.robotBaseFootprint = SIGVerseUtils.FindTransformFromChild(this.robot.transform, "base_footprint");

                this.InitializeEnvironments();

                this.tts = this.robot.transform.Find("CompetitionScripts").GetComponent <SAPIVoiceSynthesisExternal>();

                this.InitializeTaskInfo();
            }
            catch (Exception e)
            {
                SIGVerseLogger.Error(e.Message);
                this.ApplicationQuitAfter1sec();
            }
        }
        void FixedUpdate()
        {
            try
            {
                // Receive the time gap between Unity and ROS
                if (this.networkStream.DataAvailable)
                {
                    byte[] byteArray = new byte[256];

                    int numberOfBytesRead = 0;

                    if (networkStream.CanRead)
                    {
                        numberOfBytesRead = networkStream.Read(byteArray, 0, byteArray.Length);
                    }

                    string message = System.Text.Encoding.UTF8.GetString(byteArray, 0, numberOfBytesRead);

                    string[] messageArray = message.Split(',');

                    if (messageArray.Length == 3)
                    {
                        SIGVerseLogger.Info("Time gap sec=" + messageArray[1] + ", msec=" + messageArray[2]);

                        SIGVerse.RosBridge.std_msgs.Header.SetTimeGap(Int32.Parse(messageArray[1]), Int32.Parse(messageArray[2]));
                    }
                    else
                    {
                        SIGVerseLogger.Error("Illegal message. Time gap message=" + message);
                    }
                }
            }
            catch (ObjectDisposedException exception)
            {
                SIGVerseLogger.Warn(exception.Message);
            }
        }
Esempio n. 6
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        // Use this for initialization
        void Awake()
        {
            this.process = new System.Diagnostics.Process();

            this.process.StartInfo.FileName = Application.dataPath + this.path;

            //this.process.EnableRaisingEvents = true;
            //this.process.Exited += new System.EventHandler(ProcessExit);

            //this.process.StartInfo.RedirectStandardOutput = true;
            //this.process.OutputDataReceived += new System.Diagnostics.DataReceivedEventHandler(OutputHandler);

            //this.process.StartInfo.RedirectStandardError = true;
            //this.process.ErrorDataReceived += new System.Diagnostics.DataReceivedEventHandler(ErrorOutputHanlder);

            this.process.StartInfo.CreateNoWindow = true;
            this.process.StartInfo.WindowStyle    = System.Diagnostics.ProcessWindowStyle.Hidden;

            SIGVerseLogger.Info("Text-To-Speech: " + this.process.StartInfo.FileName);

            this.ResetNotificationDestinations();

            this.isSpeaking = false;
        }
        void Awake()
        {
            try
            {
                if (HandymanConfig.Instance.configFileInfo.playbackType == WorldPlaybackCommon.PlaybackTypePlay)
                {
                    return;
                }

                this.tool = new HandymanModeratorTool(this);

                this.stepTimer = new StepTimer();

                this.mainMenu            = GameObject.FindGameObjectWithTag("MainMenu");
                this.mainPanelController = mainMenu.GetComponent <PanelMainController>();
            }
            catch (Exception exception)
            {
                Debug.LogError(exception);
                SIGVerseLogger.Error(exception.Message);
                SIGVerseLogger.Error(exception.StackTrace);
                this.ApplicationQuitAfter1sec();
            }
        }
Esempio n. 8
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        public void OnReceiveRosMessage(RosBridge.human_navigation.HumanNaviMsg humanNaviMsg)
        {
            if (this.receivedMessageMap.ContainsKey(humanNaviMsg.message))
            {
                this.receivedMessageMap[humanNaviMsg.message] = true;

                if (humanNaviMsg.message == MsgGiveUp)
                {
                    this.OnGiveUp();
                }
                else if (humanNaviMsg.message == MsgGetAvatarPose)
                {
                    RosBridge.human_navigation.HumanNaviAvatarPose avatarPose = new RosBridge.human_navigation.HumanNaviAvatarPose();

                    avatarPose.head.position          = ConvertCoorinateSystemUnityToROS_Position(this.head.transform.position);
                    avatarPose.head.orientation       = ConvertCoorinateSystemUnityToROS_Rotation(this.head.transform.rotation);
                    avatarPose.left_hand.position     = ConvertCoorinateSystemUnityToROS_Position(this.LeftHand.transform.position);
                    avatarPose.left_hand.orientation  = ConvertCoorinateSystemUnityToROS_Rotation(this.LeftHand.transform.rotation);
                    avatarPose.right_hand.position    = ConvertCoorinateSystemUnityToROS_Position(this.rightHand.transform.position);
                    avatarPose.right_hand.orientation = ConvertCoorinateSystemUnityToROS_Rotation(this.rightHand.transform.rotation);

                    this.SendRosAvatarPoseMessage(avatarPose);
                }
                else if (humanNaviMsg.message == MsgConfirmSpeechState)
                {
                    if (this.isDuringTrial)
                    {
                        this.SendRosHumanNaviMessage(MsgSpeechState, this.sessionManager.GetSeechRunStateMsgString());
                    }
                }
            }
            else
            {
                SIGVerseLogger.Warn("Received Illegal message : " + humanNaviMsg.message);
            }
        }
Esempio n. 9
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        private void SetDestinationToHumanNaviTaskInfo()
        {
            List <GameObject> destinations = GameObject.FindGameObjectsWithTag("Destination").ToList <GameObject>();

            if (destinations.Count == 0)
            {
                throw new Exception("Destination candidate is not found.");
            }

            foreach (GameObject destination in destinations)
            {
                if (destination.name == this.currentTaskInfo.destination)
                {
                    Vector3 conterOfCollider = destination.GetComponent <BoxCollider>().center;
                    taskInfoForRobot.destination = this.ConvertCoorinateSystemUnityToROS_Position(destination.transform.position + conterOfCollider);
                }
            }
            SIGVerseLogger.Info("Destination : " + taskInfoForRobot.destination);

            //if (taskInfoForRobot.destination == null)
            //{
            //	throw new Exception("Destination is not found.");
            //}
        }
Esempio n. 10
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        //-----------------------------

        /// <summary>
        /// Human Avatar -> Robot
        /// </summary>
        public override void OnReceiveChatMessage(string senderName, string message)
        {
#if SIGVERSE_PUN
            if (this.photonView.Owner != PhotonNetwork.LocalPlayer)
            {
                return;
            }

            string senderNickName = senderName.Split('#')[0];

            string speaker = (senderNickName == PhotonNetwork.NickName) ? "You" : senderNickName;

            // Display the message
            PanelNoticeStatus noticeStatus = new PanelNoticeStatus(speaker, message, PanelNoticeStatus.Green);

            ExecuteEvents.Execute <IPanelNoticeHandler>
            (
                target: this.mainMenu,
                eventData: null,
                functor: (reciever, eventData) => reciever.OnPanelNoticeChange(noticeStatus)
            );

            // Forward the message to ROS
            if (senderNickName != PhotonNetwork.NickName)
            {
                ExecuteEvents.Execute <SIGVerse.RosBridge.IRosSendingStringMsgHandler>
                (
                    target: this.rosBridgeScripts,
                    eventData: null,
                    functor: (reciever, eventData) => reciever.OnSendRosStringMsg(message)
                );
            }

            SIGVerseLogger.Info("Robot: Received a message. sender=" + senderName + ", message=" + message);
#endif
        }
        protected void Awake()
        {
            this.collisionEffect = (GameObject)Resources.Load(CompetitionUtils.CollisionEffectPath);

            this.exclusionColliderList = new List <Collider>();

            foreach (string exclusionColliderTag in exclusionColliderTags)
            {
                List <GameObject> exclusionColliderObjects = GameObject.FindGameObjectsWithTag(exclusionColliderTag).ToList <GameObject>();

                foreach (GameObject exclusionColliderObject in exclusionColliderObjects)
                {
                    List <Collider> colliders = exclusionColliderObject.GetComponentsInChildren <Collider>().ToList <Collider>();

                    this.exclusionColliderList.AddRange(colliders);
                }
            }

            this.colliders          = this.GetComponentsInChildren <Collider>();
            this.colliderVelocities = new float[this.colliders.Length];
            this.prePoss            = new Vector3[this.colliders.Length];

            SIGVerseLogger.Info("HSR collider count=" + this.colliders.Length);
        }
Esempio n. 12
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        private void StartRecording()
        {
            SIGVerseLogger.Info("Recorder : Initialise");

            this.DisableSettings();

            DateTime dateTime = DateTime.Now;

            this.targetTransformInstances = new List <Transform>();

            List <string> linkPathList = new List <string>();                   // It is for only duplication check

            // Make header line
            this.savedHeaderStrings = string.Empty;

            this.savedHeaderStrings += "0.0," + PlaybackerCommon.TypeDef;                     // Elapsed time is dummy.

            // Create targets transform list
            foreach (GameObject targetObj in targetObjects)
            {
                Transform[] transforms = targetObj.transform.GetComponentsInChildren <Transform>();

                foreach (Transform transform in transforms)
                {
                    // Save Transform instance list
                    this.targetTransformInstances.Add(transform);

                    string linkPath = SIGVerseUtils.GetHierarchyPath(transform);

                    // Make a header line
                    this.savedHeaderStrings += "\t" + linkPath;

                    // Duplication check
                    if (linkPathList.Contains(linkPath))
                    {
                        SIGVerseLogger.Error("Objects in the same path exist. path=" + linkPath);
                        throw new Exception("Objects in the same path exist.");
                    }

                    linkPathList.Add(linkPath);
                }
            }

            if (this.modeType == ModeType.TextRecorder)
            {
                this.InitializeText();
            }
            else
            {
#if SIGVERSE_MYSQL
                this.InitializeDatabase();
#endif
            }

            this.savedMotionStrings = new List <string>();

            // Change Buttons
            this.recordButtonText.text = PlaybackerCommon.ButtonTextStop;

            // Reset elapsed time
            this.elapsedTime          = 0.0f;
            this.previousRecordedTime = 0.0f;


            SIGVerseLogger.Info("Recorder : Recording start.");

            this.statusText.text = StatusTextRecording;

            this.isRecording = true;
        }
Esempio n. 13
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        void Awake()
        {
            // Read Config file
            this.configFilePath = Application.dataPath + HandymanConfig.FolderPath + HandymanConfig.ConfigFileName;

            this.configFileInfo = new HandymanConfigFileInfo();

            if (File.Exists(configFilePath))
            {
                // File open
                StreamReader streamReader = new StreamReader(configFilePath, Encoding.UTF8);

                this.configFileInfo = JsonUtility.FromJson <HandymanConfigFileInfo>(streamReader.ReadToEnd());

                streamReader.Close();
            }
            else
            {
#if UNITY_EDITOR
                SIGVerseLogger.Warn("Handyman config file does not exists.");

                this.configFileInfo.teamName          = "XXXX";
                this.configFileInfo.sessionTimeLimit  = 600;
                this.configFileInfo.maxNumberOfTrials = 15;
                this.configFileInfo.isScoreFileRead   = false;
                this.configFileInfo.isGraspableObjectsPositionRandom = true;
                this.configFileInfo.isAlwaysGoNext      = false;
                this.configFileInfo.playbackType        = HandymanPlaybackCommon.PlaybackTypeRecord;
                this.configFileInfo.bgmVolume           = 0.01f;
                this.configFileInfo.reduceLoadInDataGen = false;

                this.SaveConfig();
#else
                SIGVerseLogger.Error("Handyman config file does not exists.");
                Application.Quit();
#endif
            }

            // Initialize common parameter
            this.scoreFilePath = Application.dataPath + HandymanConfig.FolderPath + HandymanConfig.ScoreFileName;

            this.scores = new List <int>();

            if (this.configFileInfo.isScoreFileRead)
            {
                if (!System.IO.File.Exists(this.scoreFilePath))
                {
                    SIGVerseLogger.Error("Score file does not exists.");
                    Application.Quit();
                }

                // File open
                StreamReader streamReader = new StreamReader(scoreFilePath, Encoding.UTF8);

                string line;

                while ((line = streamReader.ReadLine()) != null)
                {
                    string scoreStr = line.Trim();

                    if (scoreStr == string.Empty)
                    {
                        continue;
                    }

                    this.scores.Add(Int32.Parse(scoreStr));
                }

                streamReader.Close();

                this.numberOfTrials = this.scores.Count;

                if (this.numberOfTrials >= this.configFileInfo.maxNumberOfTrials)
                {
                    SIGVerseLogger.Error("this.numberOfTrials >= this.configFileInfo.maxNumberOfTrials");
                    Application.Quit();
                }
            }
            else
            {
                this.numberOfTrials = 0;
            }
        }
Esempio n. 14
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        public override bool ReadEvents(string[] headerArray, string dataStr)
        {
            // Transform data
            if (headerArray[1] == WorldPlaybackCommon.DataType1Transform)
            {
                string[] dataArray = dataStr.Split('\t');

                // Definition
                if (headerArray[2] == WorldPlaybackCommon.DataType2TransformDef)
                {
                    this.transformOrder.Clear();

                    SIGVerseLogger.Info("Playback player : transform data num=" + dataArray.Length);

                    foreach (string transformPath in dataArray)
                    {
                        if (!this.targetTransformPathMap.ContainsKey(transformPath))
                        {
                            SIGVerseLogger.Error("Couldn't find the object that path is " + transformPath);
                        }

                        this.transformOrder.Add(this.targetTransformPathMap[transformPath]);
                    }
                }
                // Value
                else if (headerArray[2] == WorldPlaybackCommon.DataType2TransformVal)
                {
                    if (this.transformOrder.Count == 0)
                    {
                        return(false);
                    }

                    PlaybackTransformEventList playbackTransformEventList = new PlaybackTransformEventList();

                    playbackTransformEventList.ElapsedTime = float.Parse(headerArray[0]);

                    for (int i = 0; i < dataArray.Length; i++)
                    {
                        string[] transformValues = dataArray[i].Split(',');

                        PlaybackTransformEvent transformEvent = new PlaybackTransformEvent();

                        transformEvent.TargetTransform = this.transformOrder[i];

                        transformEvent.Position = new Vector3(float.Parse(transformValues[0]), float.Parse(transformValues[1]), float.Parse(transformValues[2]));
                        transformEvent.Rotation = new Vector3(float.Parse(transformValues[3]), float.Parse(transformValues[4]), float.Parse(transformValues[5]));

                        if (transformValues.Length == 6)
                        {
                            transformEvent.Scale = Vector3.one;
                        }
                        else if (transformValues.Length == 9)
                        {
                            transformEvent.Scale = new Vector3(float.Parse(transformValues[6]), float.Parse(transformValues[7]), float.Parse(transformValues[8]));
                        }

                        playbackTransformEventList.EventList.Add(transformEvent);
                    }

                    this.eventLists.Add(playbackTransformEventList);
                }

                return(true);
            }

            return(false);
        }
        private IEnumerator StartPlaying()
        {
            SIGVerseLogger.Info("Player : Initialise");

            if (!File.Exists(inputFilePathInputField.text))
            {
                throw new Exception("Input File NOT found. File path=" + inputFilePathInputField.text);
            }

            this.DisableSettings();

            this.statusText.text = StatusTextReading;

            this.isReading = true;

            this.playingTransformList = new List <UpdatingTransformList>();


            if (this.modeType == ModeType.TextPlayer)
            {
                Thread threadWriteMotions = new Thread(new ThreadStart(this.ReadMotionsFromFile));
                threadWriteMotions.Start();
            }
            else
            {
#if SIGVERSE_MYSQL
                Thread threadWriteMotions = new Thread(new ThreadStart(this.SelectMotionsFromMySQL));
                threadWriteMotions.Start();
#endif
            }

            while (this.isReading)
            {
                yield return(new WaitForSeconds(0.1f));
            }

            // Change Buttons
            this.playButtonText.text = PlaybackerCommon.ButtonTextStop;


            this.animatorEnableMap.Clear();
            this.rigidbodyIsKinematicMap.Clear();

            // Disable Animators and Rigidbodies
            foreach (GameObject targetObj in targetObjects)
            {
                // Disable animators
                Animator[] animators = targetObj.transform.GetComponentsInChildren <Animator>(true);

                foreach (Animator animator in animators)
                {
                    this.animatorEnableMap.Add(animator, animator.enabled);
                    animator.enabled = false;
                }

                // Disable rigidbodies
                Rigidbody[] rigidbodies = targetObj.transform.GetComponentsInChildren <Rigidbody>(true);

                foreach (Rigidbody rigidbody in rigidbodies)
                {
                    this.rigidbodyIsKinematicMap.Add(rigidbody, rigidbody.isKinematic);

                    rigidbody.isKinematic     = true;
                    rigidbody.velocity        = Vector3.zero;
                    rigidbody.angularVelocity = Vector3.zero;
                }
            }


            SIGVerseLogger.Info("Player : Playing start.");

            // Reset elapsed time
            this.elapsedTime = 0.0f;

            this.playingTransformIndex = 0;

            this.statusText.text = StatusTextPlaying;

            this.isPlaying = true;
        }
Esempio n. 16
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        private bool SpeakMessage(string message, string displayType, string sourceLanguage, string targetLanguage)
        {
            if (this.isSpeaking)
            {
                SIGVerseLogger.Info("Text-To-Speech: isSpeaking");

                try
                {
                    if (/*isTaskFinished &&*/ !this.speechProcess.HasExited)
                    {
                        this.speechProcess.Kill();
                    }
                }
                catch (Exception)
                {
                    SIGVerseLogger.Warn("Couldn't terminate the speech process, but do nothing.");
                    // Do nothing even if an error occurs
                }
            }

            // Translation
            if ((sourceLanguage == string.Empty && targetLanguage != string.Empty) || (sourceLanguage != string.Empty && targetLanguage == string.Empty))
            {
                SIGVerseLogger.Error("Invalid language type. Source Language=" + sourceLanguage + ", Target Language=" + targetLanguage);
                return(false);
            }

            if (sourceLanguage != string.Empty && targetLanguage != string.Empty)
            {
                if (message.Length > maxCharactersForSourceLang)
                {
                    message.Substring(0, maxCharactersForSourceLang);
                    SIGVerseLogger.Info("Length of guidance message(source lang) is over " + this.maxCharactersForSourceLang.ToString() + " charcters.");
                }

                if (this.translationClient != null)
                {
                    message = this.translationClient.TranslateText(message, targetLanguage, sourceLanguage).TranslatedText;
                }
                else
                {
                    SIGVerseLogger.Warn("There is no environment for translation.");
                }
            }

            string truncatedMessage;

            if (message.Length > maxCharactersForTargetLang)
            {
                truncatedMessage = message.Substring(0, maxCharactersForTargetLang);
                SIGVerseLogger.Info("Length of guidance message(target lang) is over " + this.maxCharactersForTargetLang.ToString() + " charcters.");
            }
            else
            {
                truncatedMessage = message;
            }

            // speak
            string settings = "Language=" + HumanNaviConfig.Instance.ttsLanguageId + "; Gender=" + this.gender;

            this.speechProcess.StartInfo.Arguments = "\"" + truncatedMessage + "\" \"" + settings + "\"";

            SIGVerseLogger.Info("Speech Message=" + this.speechProcess.StartInfo.Arguments);

            foreach (GameObject destination in this.notificationDestinations)
            {
                // For recording
                ExecuteEvents.Execute <ISpeakGuidanceMessageHandler>
                (
                    target: destination,
                    eventData: null,
                    functor: (reciever, eventData) => reciever.OnSpeakGuidanceMessage(new GuidanceMessageStatus(message, displayType, sourceLanguage, targetLanguage))
                );

                // For send speech result (ROS message)
                ExecuteEvents.Execute <ISendSpeechResultHandler>
                (
                    target: destination,
                    eventData: null,
                    functor: (reciever, eventData) => reciever.OnSendSpeechResult(SpeechResultStarted)
                );
            }

            this.speechProcess.Start();

            this.isSpeaking = true;

            return(true);
        }
Esempio n. 17
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        //----------------------------   GUI related codes are below   ---------------------------------------------


        void OnGUI()
        {
            // Update a text of status
            if (this.errorMsg != string.Empty)
            {
                this.statusText.text = this.errorMsg;
                this.SetTextColorAlpha(this.statusText, 1.0f);

                return;
            }

            switch (this.step)
            {
            case Step.Waiting:
            {
                if (this.isStepChanged)
                {
                    Debug.Log("Waiting");

                    if (this.isInitialized)
                    {
                        this.trialNoInputField.interactable   = true;
                        this.readFileButton.interactable      = true;
                        this.timeSlider.interactable          = true;
                        this.playButton.interactable          = true;
                        this.speedDropdown.interactable       = true;
                        this.repeatToggle.interactable        = true;
                        this.startTimeInputField.interactable = true;
                        this.endTimeInputField.interactable   = true;
                    }

                    if (this.isFileRead)
                    {
                        this.SetTextColorAlpha(this.statusText, 0.0f);

                        this.totalTimeText.text = this.elapsedTime.ToString(ElapsedTimeFormat);

                        this.totalTimeText.text = Math.Ceiling(this.GetTotalTime()).ToString(TotalTimeFormat);
                        this.totalTimeInt       = int.Parse(this.totalTimeText.text);

                        this.ResetTimeSlider();
                        this.SetStartTime(0);
                        this.SetEndTime(this.totalTimeInt);

                        this.UpdateDataByLatest(0);

                        this.isFileRead = false;
                    }

                    this.SetTextColorAlpha(this.statusText, 0.0f);

                    this.playButton.image.sprite = this.playSprite;

                    this.isStepChanged = false;
                }

                this.UpdateTimeDisplay();

                break;
            }

            case Step.Initializing:
            {
                if (this.isStepChanged)
                {
                    SIGVerseLogger.Info("Initializing");

                    this.statusText.text = "Reading...";

                    this.isStepChanged = false;
                }

                this.SetTextColorAlpha(this.statusText, Mathf.Sin(5.0f * Time.time) * 0.5f + 0.5f);
                break;
            }

            case Step.Playing:
            {
                if (this.isStepChanged)
                {
                    SIGVerseLogger.Info("Playing");

                    this.statusText.text = "Playing...";

                    this.playButton.image.sprite = this.pauseSprite;

                    this.trialNoInputField.interactable   = false;
                    this.readFileButton.interactable      = false;
                    this.timeSlider.interactable          = false;
                    this.speedDropdown.interactable       = false;
                    this.repeatToggle.interactable        = false;
                    this.startTimeInputField.interactable = false;
                    this.endTimeInputField.interactable   = false;

                    this.isStepChanged = false;
                }

                this.SetTextColorAlpha(this.statusText, Mathf.Sin(5.0f * Time.time) * 0.5f + 0.5f);

                this.UpdateTimeDisplay();

                this.timeSlider.value = Mathf.Clamp((this.elapsedTime - this.startTime) / (this.endTime - this.startTime), 0.0f, 1.0f);

                break;
            }
            }
        }
        private void Initialize(EnvironmentInfo environmentInfo, HandymanScoreManager scoreManager, AudioSource objectCollisionAudioSource)
        {
            List <GameObject> objectCollisionDestinations = new List <GameObject>();

            objectCollisionDestinations.Add(scoreManager.gameObject);
            objectCollisionDestinations.Add(this.playbackRecorder.gameObject);

            foreach (GameObject graspable in this.graspables)
            {
                CollisionTransferer collisionTransferer = graspable.AddComponent <CollisionTransferer>();

                collisionTransferer.Initialize(objectCollisionDestinations, Score.GetObjectCollisionVeloticyThreshold(), 0.1f, objectCollisionAudioSource);
            }


            Dictionary <RelocatableObjectInfo, GameObject> graspablesPositionMap    = null;            //key:GraspablePositionInfo,   value:Graspables
            Dictionary <RelocatableObjectInfo, GameObject> destinationsPositionsMap = null;            //key:DestinationPositionInfo, value:DestinationCandidate

            if (HandymanConfig.Instance.configFileInfo.isGraspableObjectsPositionRandom)
            {
                this.graspingTarget = this.DecideGraspingTarget();
                this.destination    = this.DecideDestination();

                graspablesPositionMap    = this.CreateGraspablesPositionMap();
                destinationsPositionsMap = this.CreateDestinationsPositionsMap();
            }
            else
            {
                this.DeactivateGraspingCandidatesPositions();

                this.graspingTarget = (from graspable in this.graspables where graspable.name == environmentInfo.graspingTargetName select graspable).First();

                if (this.graspingTarget == null)
                {
                    throw new Exception("Grasping target not found. name=" + environmentInfo.graspingTargetName);
                }

                graspablesPositionMap = new Dictionary <RelocatableObjectInfo, GameObject>();

                foreach (RelocatableObjectInfo graspablePositionInfo in environmentInfo.graspablesPositions)
                {
                    GameObject graspableObj = (from graspable in this.graspables where graspable.name == graspablePositionInfo.name select graspable).First();

                    if (graspableObj == null)
                    {
                        throw new Exception("Graspable object not found. name=" + graspablePositionInfo.name);
                    }

                    graspablesPositionMap.Add(graspablePositionInfo, graspableObj);
                }


                // Destination object
                this.destination = (from destinationCandidate in this.destinationCandidates where destinationCandidate.name == environmentInfo.destinationName select destinationCandidate).First();

                if (this.destination == null)
                {
                    throw new Exception("Destination not found. name=" + environmentInfo.destinationName);
                }

                // Destination candidates position map
                destinationsPositionsMap = new Dictionary <RelocatableObjectInfo, GameObject>();

                foreach (RelocatableObjectInfo destinationPositionInfo in environmentInfo.destinationsPositions)
                {
                    GameObject destinationObj = (from destinationCandidate in this.destinationCandidates where destinationCandidate.name == destinationPositionInfo.name select destinationCandidate).First();

                    if (destinationObj == null)
                    {
                        throw new Exception("Destination candidate not found. name=" + destinationPositionInfo.name);
                    }

                    destinationsPositionsMap.Add(destinationPositionInfo, destinationObj);
                }
            }


            if (this.destination.tag != TagModerator)
            {
                // Add Placement checker to triggers
                Transform judgeTriggerOn = this.destination.transform.Find(JudgeTriggerNameOn);
                Transform judgeTriggerIn = this.destination.transform.Find(JudgeTriggerNameIn);

                if (judgeTriggerOn == null && judgeTriggerIn == null)
                {
                    throw new Exception("No JudgeTrigger. name=" + this.destination.name);
                }
                if (judgeTriggerOn != null && judgeTriggerIn != null)
                {
                    throw new Exception("Too many JudgeTrigger. name=" + this.destination.name);
                }

                if (judgeTriggerOn != null)
                {
                    PlacementChecker placementChecker = judgeTriggerOn.gameObject.AddComponent <PlacementChecker>();
                    placementChecker.Initialize(PlacementChecker.JudgeType.On);
                }
                if (judgeTriggerIn != null)
                {
                    PlacementChecker placementChecker = judgeTriggerIn.gameObject.AddComponent <PlacementChecker>();
                    placementChecker.Initialize(PlacementChecker.JudgeType.In);
                }
            }


            foreach (KeyValuePair <RelocatableObjectInfo, GameObject> pair in graspablesPositionMap)
            {
                pair.Value.transform.position    = pair.Key.position;
                pair.Value.transform.eulerAngles = pair.Key.eulerAngles;

//				Debug.Log(pair.Key.name + " : " + pair.Value.name);
            }

            foreach (KeyValuePair <RelocatableObjectInfo, GameObject> pair in destinationsPositionsMap)
            {
                pair.Value.transform.position    = pair.Key.position;
                pair.Value.transform.eulerAngles = pair.Key.eulerAngles;

//				Debug.Log(pair.Key.name + " : " + pair.Value.name);
            }

            this.targetRoom = this.GetTargetRoom();

            if (HandymanConfig.Instance.configFileInfo.isGraspableObjectsPositionRandom)
            {
                this.taskMessage           = this.CreateTaskMessage();
                this.correctedTaskMessage  = string.Empty;
                this.isEnvironmentNameSent = true;
            }
            else
            {
                this.taskMessage          = environmentInfo.taskMessage;
                this.correctedTaskMessage = environmentInfo.correctedTaskMessage;

                this.isEnvironmentNameSent = environmentInfo.isEnvironmentNameSent;
            }


            if (HandymanConfig.Instance.configFileInfo.isGraspableObjectsPositionRandom)
            {
                SaveEnvironmentInfo(this.taskMessage, this.correctedTaskMessage, this.environmentName, this.isEnvironmentNameSent, this.graspingTarget.name, this.destination.name, graspablesPositionMap, destinationsPositionsMap);
            }

            this.rosConnections = SIGVerseUtils.FindObjectsOfInterface <IRosConnection>();

            SIGVerseLogger.Info("ROS connection : count=" + this.rosConnections.Length);


            // Set up the voice (Using External executable file)
            this.speechProcess = new System.Diagnostics.Process();
            this.speechProcess.StartInfo.FileName       = Application.dataPath + "/" + SpeechExePath;
            this.speechProcess.StartInfo.CreateNoWindow = true;
            this.speechProcess.StartInfo.WindowStyle    = System.Diagnostics.ProcessWindowStyle.Hidden;

            this.isSpeechUsed = System.IO.File.Exists(this.speechProcess.StartInfo.FileName);

            this.speechInfoQue = new Queue <SpeechInfo>();

            SIGVerseLogger.Info("Text-To-Speech: " + Application.dataPath + "/" + SpeechExePath);


            this.isPlacementSucceeded = null;
        }
Esempio n. 19
0
        // Update is called once per frame
        void Update()
        {
            try
            {
                if (this.isAllTaskFinished)
                {
                    return;
                }

                if (this.interruptedReason != string.Empty && this.step != ModeratorStep.WaitForNextTask)
                {
                    SIGVerseLogger.Info("Failed '" + this.interruptedReason + "'");
                    this.SendPanelNotice("Failed\n" + interruptedReason.Replace('_', ' '), 100, PanelNoticeStatus.Red);
                    this.GoToNextTaskTaskFailed(this.interruptedReason);
                }

                switch (this.step)
                {
                case ModeratorStep.Initialize:
                {
                    SIGVerseLogger.Info("Initialize");
                    this.PreProcess();
                    this.step++;
                    break;
                }

                case ModeratorStep.WaitForStart:
                {
                    if (this.stepTimer.IsTimePassed((int)this.step, 3000))
                    {
                        if (this.tool.IsPlaybackInitialized() && this.tool.IsConnectedToRos())
                        {
                            this.step++;
                        }
                    }
                    break;
                }

                case ModeratorStep.TaskStart:
                {
                    SIGVerseLogger.Info("Task start!");

                    this.scoreManager.TaskStart();

                    this.tool.StartPlayback();
                    this.tool.StartAvatarMotionPlayback();

                    this.step++;

                    break;
                }

                case ModeratorStep.WaitForIamReady:
                {
                    if (this.receivedMessageMap[MsgIamReady])
                    {
                        this.step++;
                        break;
                    }

                    if (this.stepTimer.IsTimePassed((int)this.step, SendingAreYouReadyInterval))
                    {
                        this.SendRosMessage(MsgAreYouReady, string.Empty);
                        this.SendRosMessage(MsgEnvironment, this.tool.GetEnvironmentName());
                    }
                    break;
                }

                case ModeratorStep.SendInstruction:
                {
                    // Wait for sending tf
                    if (this.stepTimer.IsTimePassed((int)this.step, 1000))
                    {
                        this.SendRosMessage(MsgInstruction, this.taskMessage);

                        this.step++;

                        SIGVerseLogger.Info("Waiting for '" + MsgRoomReached + "'");
                    }
                    break;
                }

                case ModeratorStep.WaitForRoomReached:
                {
                    if (this.receivedMessageMap[MsgRoomReached])
                    {
                        // Check for robot position
                        bool isSucceeded = this.tool.IsRoomReachedSucceeded();

                        if (HandymanConfig.Instance.configFileInfo.isAlwaysGoNext)
                        {
                            SIGVerseLogger.Warn("!!! DEBUG MODE !!! : always go next step : result=" + isSucceeded);
                            isSucceeded = true;
                        }

                        if (isSucceeded)
                        {
                            SIGVerseLogger.Info("Succeeded '" + MsgRoomReached + "'");
                            this.SendPanelNotice("Good", 150, PanelNoticeStatus.Green);
                            this.scoreManager.AddScore(Score.Type.RoomReachingSuccess);
                        }
                        else
                        {
                            SIGVerseLogger.Info("Failed '" + MsgRoomReached + "'");
                            this.SendPanelNotice("Failed\n" + MsgRoomReached.Replace('_', ' '), 100, PanelNoticeStatus.Red);
                            this.scoreManager.AddScore(Score.Type.RoomReachingFailure);

                            this.GoToNextTaskTaskFailed(MsgRoomReached);

                            return;
                        }

                        this.step++;

                        if (this.shouldWaitDoesNotExist)
                        {
                            SIGVerseLogger.Info("Waiting for '" + MsgDoesNotExist + "'");
                        }
                        else
                        {
                            SIGVerseLogger.Info("Waiting for '" + MsgObjectGrasped + "'");
                        }
                    }
                    break;
                }

                case ModeratorStep.WaitForDoesNotExist:
                {
                    if (!this.shouldWaitDoesNotExist)
                    {
                        this.step++;
                        break;
                    }

                    if (this.receivedMessageMap[MsgDoesNotExist])
                    {
                        string detail = "Send a new message";
                        SIGVerseLogger.Info("Succeeded '" + MsgDoesNotExist + "'");
                        this.SendPanelNotice("Good\n" + detail, 95, PanelNoticeStatus.Green);
                        this.scoreManager.AddScore(Score.Type.TargetConfirmationSuccess);

                        this.SendRosMessage(MsgCorrectedInstruction, this.correctedTaskMessage);
                        this.mainPanelController.SetTaskMessageText(this.correctedTaskMessage);

                        this.step++;

                        SIGVerseLogger.Info("Waiting for '" + MsgObjectGrasped + "'");
                        break;
                    }

                    if (this.receivedMessageMap[MsgObjectGrasped])
                    {
                        string detail = "Target doesn't exist";
                        SIGVerseLogger.Info("Failed '" + MsgDoesNotExist + "'");
                        this.SendPanelNotice("Failed\n" + detail, 90, PanelNoticeStatus.Red);
                        this.scoreManager.AddScore(Score.Type.TargetConfirmationFailure);

                        this.GoToNextTaskTaskFailed(MsgDoesNotExist);

                        return;
                    }
                    break;
                }

                case ModeratorStep.WaitForObjectGrasped:
                {
                    if (!this.shouldWaitDoesNotExist)
                    {
                        if (this.receivedMessageMap[MsgDoesNotExist])
                        {
                            string detail = "The target exist";
                            SIGVerseLogger.Info("Failed '" + MsgObjectGrasped + "'");
                            this.SendPanelNotice("Failed\n" + detail, 100, PanelNoticeStatus.Red);
                            this.scoreManager.AddScore(Score.Type.GraspingFailure);

                            this.GoToNextTaskTaskFailed(detail);

                            return;
                        }
                    }

                    if (this.receivedMessageMap[MsgObjectGrasped])
                    {
                        // Check for grasping
                        bool isSucceeded = this.tool.IsObjectGraspedSucceeded();

                        if (HandymanConfig.Instance.configFileInfo.isAlwaysGoNext)
                        {
                            SIGVerseLogger.Warn("!!! DEBUG MODE !!! : always go next step : result=" + isSucceeded);
                            isSucceeded = true;
                        }

                        if (isSucceeded)
                        {
                            SIGVerseLogger.Info("Succeeded '" + MsgObjectGrasped + "'");
                            this.SendPanelNotice("Good", 150, PanelNoticeStatus.Green);
                            this.scoreManager.AddScore(Score.Type.GraspingSuccess);
                        }
                        else
                        {
                            SIGVerseLogger.Info("Failed '" + MsgObjectGrasped + "'");
                            this.SendPanelNotice("Failed\n" + MsgObjectGrasped.Replace('_', ' '), 100, PanelNoticeStatus.Red);
                            this.scoreManager.AddScore(Score.Type.GraspingFailure);

                            this.GoToNextTaskTaskFailed(MsgObjectGrasped);

                            return;
                        }

                        this.step++;

                        SIGVerseLogger.Info("Waiting for '" + MsgTaskFinished + "'");

                        break;
                    }
                    break;
                }

                case ModeratorStep.WaitForTaskFinished:
                {
                    if (this.receivedMessageMap[MsgTaskFinished])
                    {
                        StartCoroutine(this.tool.UpdatePlacementStatus(this));

                        this.step++;
                    }
                    break;
                }

                case ModeratorStep.Judgement:
                {
                    if (this.tool.IsPlacementCheckFinished())
                    {
                        bool isSucceeded = this.tool.IsPlacementSucceeded();

                        if (HandymanConfig.Instance.configFileInfo.isAlwaysGoNext)
                        {
                            SIGVerseLogger.Warn("!!! DEBUG MODE !!! : always go next step : result=" + isSucceeded);
                            isSucceeded = true;
                        }

                        if (isSucceeded)
                        {
                            SIGVerseLogger.Info("Succeeded '" + MsgTaskFinished + "'");
                            this.SendPanelNotice("Succeeded!", 150, PanelNoticeStatus.Green);
                            this.scoreManager.AddScore(Score.Type.PlacementSuccess);

                            this.GoToNextTaskTaskSucceeded();
                        }
                        else
                        {
                            SIGVerseLogger.Info("Failed '" + MsgTaskFinished + "'");
                            this.SendPanelNotice("Failed\n" + MsgTaskFinished.Replace('_', ' '), 100, PanelNoticeStatus.Red);
                            this.scoreManager.AddScore(Score.Type.PlacementFailure);

                            this.GoToNextTaskTaskFailed(MsgTaskFinished);
                        }
                    }
                    break;
                }

                case ModeratorStep.WaitForNextTask:
                {
                    if (this.stepTimer.IsTimePassed((int)this.step, 5000))
                    {
                        if (!this.tool.IsPlaybackFinished())
                        {
                            break;
                        }

                        SceneManager.LoadScene(SceneManager.GetActiveScene().name);
                    }

                    break;
                }
                }
            }
            catch (Exception exception)
            {
                Debug.LogError(exception);
                SIGVerseLogger.Error(exception.Message);
                SIGVerseLogger.Error(exception.StackTrace);
                this.ApplicationQuitAfter1sec();
            }
        }
Esempio n. 20
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        protected override void SubscribeMessageCallback(RosBridge.human_navigation.HumanNaviMsg humanNaviMsg)
        {
            SIGVerseLogger.Info("Received message :" + humanNaviMsg.message);

            this.punRpcManager.ForwardSubRosMessage(humanNaviMsg);
        }
Esempio n. 21
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        // 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();
            }
        }
Esempio n. 22
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        private void GetGameObjects(GameObject avatarMotionPlayback, GameObject worldPlayback)
        {
            this.robot = GameObject.FindGameObjectWithTag(TagRobot);

            this.hsrBaseFootPrint    = SIGVerseUtils.FindTransformFromChild(this.robot.transform, HSRCommon.BaseFootPrintName);
            this.hsrGraspingDetector = this.robot.GetComponentInChildren <HSRGraspingDetector>();


            GameObject moderator = GameObject.FindGameObjectWithTag(TagModerator);


            // Get grasping candidates
            this.graspingCandidates = GameObject.FindGameObjectsWithTag(TagGraspingCandidates).ToList <GameObject>();


            if (this.graspingCandidates.Count == 0)
            {
                throw new Exception("Count of GraspingCandidates is zero.");
            }

//			List<GameObject> dummyGraspingCandidates = GameObject.FindGameObjectsWithTag(TagDummyGraspingCandidates).ToList<GameObject>();

            this.graspables = new List <GameObject>();

            this.graspables.AddRange(this.graspingCandidates);
//			this.graspables.AddRange(dummyGraspingCandidates);

            // Check the name conflict of graspables.
            if (this.graspables.Count != (from graspable in this.graspables select graspable.name).Distinct().Count())
            {
                throw new Exception("There is the name conflict of graspable objects.");
            }

            SIGVerseLogger.Info("Count of Graspables = " + this.graspables.Count);


            this.bedRoomArea = GameObject.Find(this.environmentName + "/RoomArea/" + AreaNameBedRoom);
            this.kitchenArea = GameObject.Find(this.environmentName + "/RoomArea/" + AreaNameKitchen);
            this.livingArea  = GameObject.Find(this.environmentName + "/RoomArea/" + AreaNameLiving);
            this.lobbyArea   = GameObject.Find(this.environmentName + "/RoomArea/" + AreaNameLobby);

            // Get grasping candidates positions
            this.graspingCandidatesPositions = GameObject.FindGameObjectsWithTag(TagGraspingCandidatesPosition).ToList <GameObject>();

            if (this.graspables.Count > this.graspingCandidatesPositions.Count)
            {
                throw new Exception("graspables.Count > graspingCandidatesPositions.Count.");
            }
            else
            {
                SIGVerseLogger.Info("Count of GraspingCandidatesPosition = " + this.graspingCandidatesPositions.Count);
            }


            this.destinationCandidates = GameObject.FindGameObjectsWithTag(TagDestinationCandidates).ToList <GameObject>();

            this.destinationCandidates.Add(moderator);             // Treat moderator as a destination candidate

            if (this.destinationCandidates.Count == 0)
            {
                throw new Exception("Count of DestinationCandidates is zero.");
            }

            // Check the name conflict of destination candidates.
            if (this.destinationCandidates.Count != (from destinations in this.destinationCandidates select destinations.name).Distinct().Count())
            {
                throw new Exception("There is the name conflict of destination candidates objects.");
            }

            SIGVerseLogger.Info("Count of Destinations = " + this.destinationCandidates.Count);

            this.avatarMotionPlayer   = avatarMotionPlayback.GetComponent <HandymanAvatarMotionPlayer>();
            this.avatarMotionRecorder = avatarMotionPlayback.GetComponent <HandymanAvatarMotionRecorder>();

            this.playbackRecorder = worldPlayback.GetComponent <HandymanPlaybackRecorder>();
        }
Esempio n. 23
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        /// <summary>
        /// Robot -> Human Avatar
        /// </summary>
        public void OnReceiveRosStringMsg(RosBridge.std_msgs.String rosMsg)
        {
            this.SendChatMessage(rosMsg.data);

            SIGVerseLogger.Info("Robot: Sent a message. sender=" + this.transform.root.name + ", message=" + rosMsg.data);
        }
Esempio n. 24
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        private void InsertMotionsToMySQL()
        {
            MySqlConnection mysqlConn    = null;
            MySqlCommand    mysqlCommand = null;

            try
            {
                string connString =
                    "server  =" + this.mysqlIpInputField.text + ";" +
                    "port    =" + this.mysqlPortInputField.text + ";" +
                    "database=" + MysqlSchemaName + ";" +
                    "userid  =" + this.mysqlUserInputField.text + ";" +
                    "password="******"Inserted " + "1" + " records.");

                // Write motion data
                int cnt = 0;
                insertSql = string.Empty;

                foreach (string savedMotionString in this.savedMotionStrings)
                {
                    this.CreateInsertQuery(ref insertSql, savedMotionString);
                    cnt++;

                    // Execute the insert query every 100 times.
                    if (cnt == 100)
                    {
                        mysqlCommand = new MySqlCommand(insertSql, mysqlConn);
                        mysqlCommand.ExecuteNonQuery();

                        cnt       = 0;
                        insertSql = string.Empty;
                    }
                }

                if (cnt != 0)
                {
                    mysqlCommand = new MySqlCommand(insertSql, mysqlConn);
                    mysqlCommand.ExecuteNonQuery();
                }

                SIGVerseLogger.Info("Inserted " + savedMotionStrings.Count + " records.");

                mysqlCommand.Dispose();
                mysqlConn.Close();

                this.isWriting = false;
            }
            catch (Exception ex)
            {
                SIGVerseLogger.Error(ex.Message);
                SIGVerseLogger.Error(ex.StackTrace);

                if (mysqlConn != null)
                {
                    mysqlConn.Close();
                }
                Application.Quit();
            }
        }
Esempio n. 25
0
        //void OnDestroy()
        //{
        //	this.CloseRosConnections();
        //}

        // Update is called once per frame
        void Update()
        {
            try
            {
                if (this.isAllTaskFinished)
                {
                    return;
                }

                if (this.interruptedReason != string.Empty && this.step != Step.WaitForNextTrial)
                {
                    SIGVerseLogger.Info("Failed '" + this.interruptedReason + "'");
                    this.SendPanelNotice("Failed\n" + interruptedReason.Replace('_', ' '), 100, PanelNoticeStatus.Red);
                    this.TimeIsUp();
                }

                if (OVRInput.GetDown(OVRInput.RawButton.X) && this.isDuringTrial)
                {
                    if (!this.sessionManager.GetSeechRunState())
                    {
                        this.SendRosHumanNaviMessage(MsgRequest, "");
                    }
                }

                switch (this.step)
                {
                case Step.Initialize:
                {
                    if (this.isCompetitionStarted)
                    {
                        this.PreProcess();
                        this.step++;
                    }

                    break;
                }

                case Step.InitializePlayback:                         // Need to wait for an update to finish instantiating objects to record
                {
                    this.InitializePlayback();
                    this.step++;
                    break;
                }

                case Step.WaitForStart:
                {
                    if (this.stepTimer.IsTimePassed((int)this.step, 3000))
                    {
                        if (this.IsPlaybackInitialized() && this.IsConnectedToRos())
                        {
                            this.step++;
                        }
                    }

                    break;
                }

                case Step.TrialStart:
                {
                    this.goToNextTrialPanel.SetActive(false);

                    SIGVerseLogger.Info("Trial start!");
                    this.RecordEventLog("Trial_start");

                    this.scoreManager.TaskStart();

                    this.SendPanelNotice("Trial start!", 100, PanelNoticeStatus.Green);
                    base.StartCoroutine(this.ShowNoticeMessagePanelForAvatar("Trial start!", 3.0f));

                    this.isDuringTrial = true;
                    this.step++;

                    break;
                }

                case Step.WaitForIamReady:
                {
                    if (this.receivedMessageMap[MsgIamReady])
                    {
                        this.StartPlaybackRecord();
                        this.step++;
                        break;
                    }

                    this.SendMessageAtIntervals(MsgAreYouReady, "", SendingAreYouReadyInterval);

                    break;
                }

                case Step.SendTaskInfo:
                {
                    this.SendRosTaskInfoMessage(this.taskInfoForRobot);

                    SIGVerseLogger.Info("Waiting for end of trial");

                    this.step++;

                    break;
                }

                case Step.WaitForEndOfSession:
                {
                    this.CheckHandInteraction(this.LeftHand);
                    this.CheckHandInteraction(this.rightHand);

                    break;
                }

                case Step.WaitForNextTrial:
                {
                    if (this.goNextTrial)
                    {
                        SIGVerseLogger.Info("Go to next trial");
                        this.RecordEventLog("Go_to_next_trial");

                        this.SendRosHumanNaviMessage(MsgGoToNextTrial, "");

                        this.step = Step.Initialize;
                    }

                    break;
                }
                }
            }
            catch (Exception exception)
            {
                Debug.LogError(exception);
                SIGVerseLogger.Error(exception.Message);
                SIGVerseLogger.Error(exception.StackTrace);
                this.ApplicationQuitAfter1sec();
            }
        }
Esempio n. 26
0
        protected virtual void InitializeTargetTransforms()
        {
            // Transform
            this.targetTransforms = new List <Transform>();

            switch (this.targetType)
            {
            case TargetType.AllObjects:
            {
                this.targetTransforms = FindObjectsOfType <Transform>().ToList();                        // High Load

                break;
            }

            case TargetType.ObjectsWithRigidbodyAndItsChildObjects:
            {
                HashSet <Transform> targetHashSet = new HashSet <Transform>();

                Rigidbody[] rigidbodies = FindObjectsOfType <Rigidbody>();                        // High Load

                foreach (Rigidbody rb in rigidbodies)
                {
                    targetHashSet.UnionWith(rb.gameObject.GetComponentsInChildren <Transform>());
                }

                this.targetTransforms = targetHashSet.ToList();

                break;
            }

            case TargetType.ObjectsWithRigidbody:
            {
                Rigidbody[] rigidbodies = FindObjectsOfType <Rigidbody>();                        // High Load

                this.targetTransforms = rigidbodies.Select(x => x.transform).ToList();

                break;
            }
            }

            // Exclude some objects.
            foreach (GameObject rootObjectToExclude in this.exclusionTargets)
            {
                Transform[] transformsToExclude = rootObjectToExclude.GetComponentsInChildren <Transform>(true);

                foreach (Transform transformToExclude in transformsToExclude)
                {
                    this.targetTransforms.Remove(transformToExclude);
                }
            }

            int targetTransformCountBefore = this.targetTransforms.Count;

            foreach (String exclusionTargetNameRegex in this.exclusionTargetNameRegexs)
            {
                this.targetTransforms = this.targetTransforms.Where(x => !Regex.IsMatch(x.name, exclusionTargetNameRegex)).ToList();
            }

            if (this.targetTransforms.Count != targetTransformCountBefore)
            {
                SIGVerseLogger.Info("The number excluded by name is " + (targetTransformCountBefore - this.targetTransforms.Count));
            }
        }
Esempio n. 27
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        //--------------------------------------------------

        protected override void SubscribeMessageCallback(RosBridge.human_navigation.HumanNaviGuidanceMsg guidaneMsg)
        {
            SIGVerseLogger.Info("Received guide message: " + guidaneMsg.message + ", display type: " + guidaneMsg.display_type + ", source lang: " + guidaneMsg.source_language + ", target lang: " + guidaneMsg.target_language);

            this.tts.OnReceiveROSHumanNaviGuidanceMessage(guidaneMsg);
        }
Esempio n. 28
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        private void Initialize(EnvironmentInfo environmentInfo, HandymanScoreManager scoreManager)
        {
            List <GameObject> objectCollisionDestinations = new List <GameObject>();

            objectCollisionDestinations.Add(scoreManager.gameObject);
            objectCollisionDestinations.Add(this.playbackRecorder.gameObject);

            foreach (GameObject graspable in this.graspables)
            {
                CollisionTransferer collisionTransferer = graspable.AddComponent <CollisionTransferer>();

                collisionTransferer.Initialize(objectCollisionDestinations, Score.GetObjectCollisionVeloticyThreshold());
            }


            Dictionary <RelocatableObjectInfo, GameObject> graspablesPositionMap    = null;         //key:GraspablePositionInfo, value:Graspables
            Dictionary <RelocatableObjectInfo, GameObject> destinationsPositionsMap = null;         //key:DestinationPositionInfo, value:DestinationCandidate

            if (HandymanConfig.Instance.configFileInfo.isGraspableObjectsPositionRandom)
            {
                this.graspingTarget = this.DecideGraspingTarget();
                this.destination    = this.DecideDestination();

                graspablesPositionMap    = this.CreateGraspablesPositionMap();
                destinationsPositionsMap = this.CreateDestinationsPositionsMap();
            }
            else
            {
                this.DeactivateGraspingCandidatesPositions();

                this.graspingTarget = (from graspable in this.graspables where graspable.name == environmentInfo.graspingTargetName select graspable).First();

                if (this.graspingTarget == null)
                {
                    throw new Exception("Grasping target not found. name=" + environmentInfo.graspingTargetName);
                }

                graspablesPositionMap = new Dictionary <RelocatableObjectInfo, GameObject>();

                foreach (RelocatableObjectInfo graspablePositionInfo in environmentInfo.graspablesPositions)
                {
                    GameObject graspableObj = (from graspable in this.graspables where graspable.name == graspablePositionInfo.name select graspable).First();

                    if (graspableObj == null)
                    {
                        throw new Exception("Graspable object not found. name=" + graspablePositionInfo.name);
                    }

                    graspablesPositionMap.Add(graspablePositionInfo, graspableObj);
                }


                // Destination object
                this.destination = (from destinationCandidate in this.destinationCandidates where destinationCandidate.name == environmentInfo.destinationName select destinationCandidate).First();

                if (this.destination == null)
                {
                    throw new Exception("Destination not found. name=" + environmentInfo.destinationName);
                }

                // Destination candidates position map
                destinationsPositionsMap = new Dictionary <RelocatableObjectInfo, GameObject>();

                foreach (RelocatableObjectInfo destinationPositionInfo in environmentInfo.destinationsPositions)
                {
                    GameObject destinationObj = (from destinationCandidate in this.destinationCandidates where destinationCandidate.name == destinationPositionInfo.name select destinationCandidate).First();

                    if (destinationObj == null)
                    {
                        throw new Exception("Destination candidate not found. name=" + destinationPositionInfo.name);
                    }

                    destinationsPositionsMap.Add(destinationPositionInfo, destinationObj);
                }
            }


            if (this.destination.tag != TagModerator)
            {
                // Add Placement checker to triggers
                Transform judgeTriggersTransform = this.destination.transform.Find(JudgeTriggersName);

                if (judgeTriggersTransform == null)
                {
                    throw new Exception("No Judge Triggers object");
                }

                judgeTriggersTransform.gameObject.AddComponent <PlacementChecker>();
            }


            foreach (KeyValuePair <RelocatableObjectInfo, GameObject> pair in graspablesPositionMap)
            {
                pair.Value.transform.position    = pair.Key.position;
                pair.Value.transform.eulerAngles = pair.Key.eulerAngles;

//				Debug.Log(pair.Key.name + " : " + pair.Value.name);
            }

            foreach (KeyValuePair <RelocatableObjectInfo, GameObject> pair in destinationsPositionsMap)
            {
                pair.Value.transform.position    = pair.Key.position;
                pair.Value.transform.eulerAngles = pair.Key.eulerAngles;

//				Debug.Log(pair.Key.name + " : " + pair.Value.name);
            }

            this.targetRoom = this.GetTargetRoom();

            if (HandymanConfig.Instance.configFileInfo.isGraspableObjectsPositionRandom)
            {
                this.taskMessage           = this.CreateTaskMessage();
                this.correctedTaskMessage  = string.Empty;
                this.isEnvironmentNameSent = true;
            }
            else
            {
                this.taskMessage          = environmentInfo.taskMessage;
                this.correctedTaskMessage = environmentInfo.correctedTaskMessage;

                this.isEnvironmentNameSent = environmentInfo.isEnvironmentNameSent;
            }


            if (HandymanConfig.Instance.configFileInfo.isGraspableObjectsPositionRandom)
            {
                SaveEnvironmentInfo(this.taskMessage, this.correctedTaskMessage, this.environmentName, this.isEnvironmentNameSent, this.graspingTarget.name, this.destination.name, graspablesPositionMap, destinationsPositionsMap);
            }

            this.rosConnections = SIGVerseUtils.FindObjectsOfInterface <IRosConnection>();

            SIGVerseLogger.Info("ROS connection : count=" + this.rosConnections.Length);


            this.isPlacementSucceeded = null;
        }
Esempio n. 29
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        public void OnReceiveChatMessage(string senderName, string message)
        {
            SIGVerseLogger.Info("Receive ChatMessage on ChatManager. user="******", message=" + message);

            this.photonView.RPC("ForwardMessage", RpcTarget.All, senderName, message);
        }
Esempio n. 30
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        protected virtual void StopPlaying()
        {
            SIGVerseLogger.Info("( Stop the world playback playing )");

            this.step = Step.Waiting;
        }