void FilterSignalEvent(DingSignal signal)
{
if (filter.Match(signal))
{
HandleSignalEvent(signal);
}
}
private void HandleSignalEvent(DingSignal signal)
{
signals.Add(signal);
if (signals.Count > 1000)
{
signals.RemoveAt(0);
}
Repaint();
}
protected override void HandleSignalEvent(DingSignal signal)
{
float value;
if (filter.TryExtractValue <float>(signal, out value))
{
this.signal = signal;
this.value = value;
}
}
public bool Match(DingSignal signal)
{
// if (messageType == AiGlobals.FloatConditionType.analogin) {
// this.messageFilter = "/num/analogin/" + port + "/";
// } else if (messageType == AiGlobals.FloatConditionType.touch) {
// this.messageFilter = "/num/touch/" + port + "/";
// }
//Debug.Log(messageFilter);
return(signal.device == device && signal.source == source && signal.oscMessage.Filter(this.messageFilter.Split(':') [0]));
}
protected override void HandleSignalEvent(DingSignal signal)
{
string value;
if (filter.TryExtractValue <string>(signal, out value))
{
this.signal = signal;
this.value = value;
}
//Debug.Log("HandleSignalEvent " + signal + " " + this.value);
}
public void sttResults(string transcription)
{
print("Virt - Speech To Text: " + transcription);
//stt.StopRecording();
sttRecording = false;
DelftToolkit.DingSignal signal = new DelftToolkit.DingSignal(thisDevice, AiGlobals.SensorSource.virt, "/str/speech2text/", transcription);
if (DelftToolkit.DingSignal.onSignalEvent != null)
{
DelftToolkit.DingSignal.onSignalEvent(signal);
}
}
public bool TryExtractValue <T>(DingSignal signal, out T value)
{
object obj = null;
if (messageFilter.StartsWith("/num/"))
{
return(signal.TryGetValue <T>(out value));
}
else if (messageFilter.StartsWith("/vec/"))
{
Vector3 v;
if (signal.TryGetValue <Vector3>(out v))
{
if (messageFilter.EndsWith(":x"))
{
obj = v.x;
}
else if (messageFilter.EndsWith(":y"))
{
obj = v.y;
}
else if (messageFilter.EndsWith(":z"))
{
obj = v.z;
}
else if (messageFilter.EndsWith(":mag"))
{
obj = v.magnitude;
}
else
{
return(signal.TryGetValue <T>(out value));
}
if (obj is T)
{
value = (T)obj;
return(true);
}
}
}
else if (messageFilter.StartsWith("/str/"))
{
return(signal.TryGetValue <T>(out value));
}
value = default(T);
return(false);
}
public bool Match(DingSignal signal)
{
// AiGlobals.Devices device = signal.device;
// AiGlobals.SensorSource source = signal.source;
// string oscMessage = signal.oscMessage;
// object value = signal.value;
// if (signal.oscMessage == AiGlobals.StrConditionType.recognize) {
// this.messageFilter = "/str/recognize/";
// } else if (messageType == AiGlobals.StrConditionType.keydown) {
// this.messageFilter = "/str/keydown/";
// } else if (messageType == AiGlobals.StrConditionType.speech2text) {
// this.messageFilter = "/str/speech2text/";
// }
//Debug.Log(messageType);
//Debug.Log(this.messageFilter);
//return signal.device == device && signal.source == source && signal.oscMessage.Filter(this.messageFilter.Split(':') [0]);
return(signal.device == device && signal.source == source && signal.oscMessage.Filter(messageFilter.Split(':') [0]));
}
public override void Update()
{
// keep track of speech to text
if (sttRecording == true && Time.time - sttStartTime >= sttDuration)
{
stt.StopRecording();
sttRecording = false;
//print("stopped STT");
Debug.LogWarning("DING-VIRTUAL stopped STT after: " + sttDuration + " seconds");
}
// send virtual sensor data
if (sendSensors)
{
// very crude implementation
if (DelftToolkit.DingSignal.onSignalEvent != null)
{
RaycastHit hit;
Ray forwardRay = new Ray(transform.position, -Vector3.up);
//Cast a ray straight forwards.
float distance = 1000; // when nothing is in front of it
Vector3 fwd = transform.TransformDirection(Vector3.forward);
if (Physics.Raycast(transform.position, fwd, out hit))
{
//print("Found an object - distance: " + hit.distance);
// make it similar to what comes out of the phycical sensor
//distance = 1023 - (hit.distance * 100); // IR sensor
distance = hit.distance * 10; // sonar sensor goes lower as it object gets closer
}
string url = "/num/analogin/" + analoginPort + "/";
DelftToolkit.DingSignal signal = new DelftToolkit.DingSignal(thisDevice, AiGlobals.SensorSource.virt, url, distance);
if (DelftToolkit.DingSignal.onSignalEvent != null)
{
DelftToolkit.DingSignal.onSignalEvent(signal);
}
}
}
// handle recognize request
if (recognize)
{
if (DelftToolkit.DingSignal.onSignalEvent != null)
{
String tag = "Untagged";
Transform tilt = FindChildByRecursion(transform, "tilt");
RaycastHit hit;
//Cast a ray straight forwards from servo tilt/pan head
Vector3 fwd = tilt.TransformDirection(Vector3.forward);
if (Physics.Raycast(tilt.position, fwd, out hit))
{
if (hit.distance < recogDistance)
{
tag = hit.collider.tag;
}
else
{
tag = "far:" + hit.collider.tag;
}
}
//Debug.LogWarning("recognize: " + tag);
Debug.DrawRay(tilt.position, fwd * 10, Color.green, 4, false);
// if (tag != "Untagged") {
DelftToolkit.DingSignal signal = new DelftToolkit.DingSignal(thisDevice, AiGlobals.SensorSource.virt, "/str/recognize/", tag);
DelftToolkit.DingSignal.onSignalEvent(signal);
// }
}
}
// watch keyboard
foreach (KeyCode currentKey in allKeyCodes)
{
if (Input.GetKeyDown(currentKey))
{
if (DelftToolkit.DingSignal.onSignalEvent != null)
{
//print(currentKey);
DelftToolkit.DingSignal signal = new DelftToolkit.DingSignal(thisDevice, AiGlobals.SensorSource.virt, "/str/keydown/", currentKey.ToString());
DelftToolkit.DingSignal.onSignalEvent(signal);
}
}
}
// handle led blinking
if (ledBlinkNum > 0 && Time.time > ledBlinkNextTime)
{
if (ledBlinkState) // turn it off
{
body.GetComponent <Renderer>().material.color = new Color(0.0f, 0.0f, 0.0f);
}
else // turn it on
{
body.GetComponent <Renderer>().material.color = ledBlinkColor;
}
ledBlinkState = !ledBlinkState;
ledBlinkNextTime = Time.time + ledBlinkInterval;
ledBlinkNum--;
}
// handle servo position
moveYaw();
movePitch();
// change this to use separate vars for move and movetype if move active
float moveAmount = moveSpeed * speedAdj * Time.deltaTime;
switch (moveType)
{
case AiGlobals.ActionMoveTypes.stop:
break;
case AiGlobals.ActionMoveTypes.forward:
transform.position += transform.forward * moveAmount;
break;
case AiGlobals.ActionMoveTypes.backward:
transform.position -= transform.forward * moveAmount;
break;
case AiGlobals.ActionMoveTypes.turnRight:
transform.Rotate(Vector3.up, 1 * 100f * moveAmount);
break;
case AiGlobals.ActionMoveTypes.turnLeft:
transform.Rotate(Vector3.up, -1 * 100f * moveAmount);
break;
default:
break;
}
// OSC
if (OSCInit)
{
OSCHandler.Instance.UpdateLogs();
servers = OSCHandler.Instance.Servers;
foreach (KeyValuePair <string, ServerLog> item in servers)
{
//print(item.Value.packets.Count);
// get the most recent NEW OSC message received
if (serverClientID == item.Key && item.Value.packets.Count > 0 && item.Value.packets[item.Value.packets.Count - 1].TimeStamp != lastOscMessageIn)
{
// count back until we find the matching timestamp
int lastMsgIndex = item.Value.packets.Count - 1;
while (lastMsgIndex > 0 && item.Value.packets[lastMsgIndex].TimeStamp != lastOscMessageIn)
{
lastMsgIndex--;
}
// set how many messages are queued up
int msgsQd = 1;
if (item.Value.packets.Count > 1) // not the first item
{
msgsQd = item.Value.packets.Count - lastMsgIndex - 1;
}
lastOscMessageIn = item.Value.packets[item.Value.packets.Count - 1].TimeStamp;
// check the queued messages
for (int msgIndex = item.Value.packets.Count - msgsQd; msgIndex < item.Value.packets.Count; msgIndex++)
{
//
string address = item.Value.packets[msgIndex].Address;
if (address.StartsWith("/"))
{
float value0 = item.Value.packets[msgIndex].Data.Count > 0 ? float.Parse(item.Value.packets[msgIndex].Data[0].ToString()) : 0.0f;
float value1 = item.Value.packets[msgIndex].Data.Count > 1 ? float.Parse(item.Value.packets[msgIndex].Data[1].ToString()) : 0.0f;
float value2 = item.Value.packets[msgIndex].Data.Count > 2 ? float.Parse(item.Value.packets[msgIndex].Data[2].ToString()) : 0.0f;
address = "/num" + address + "/";
print(OSC_SERVER_CLIENT + ": " + address + " " + value0 + " " + value1 + " " + value2);
if (DelftToolkit.DingSignal.onSignalEvent != null)
{
DelftToolkit.DingSignal signal = new DelftToolkit.DingSignal(thisDevice, AiGlobals.SensorSource.virt, address, value0);
DelftToolkit.DingSignal.onSignalEvent(signal);
//DelftToolkit.DingSignal.onSignalEvent(new DelftToolkit.DingSignal(thisDevice, AiGlobals.SensorSource.virt, address, new Vector3(value0, value1, value2)));
}
}
//print(OSC_SERVER_CLIENT + ": " + address + " " + float.Parse(item.Value.packets[msgIndex].Data[0].ToString()));
}
}
}
}
}
// public DingSignalFilter filter = new DingSignalFilter(AiGlobals.Devices.ding1, AiGlobals.SensorSource.virt, AiGlobals.FloatConditionType.analogin, 0);
// [Tooltip("Read signals matching message signature. (only exact match supported)")]
// /// <summary> The last signal we received which passed the filter </summary>
// [NonSerialized] public DingSignal signal;
// protected override void Init() {
// base.Init();
// DingSignal.onSignalEvent -= FilterSignalEvent;
// DingSignal.onSignalEvent += FilterSignalEvent;
// }
// void FilterSignalEvent(DingSignal signal) {
// if (filter.Match(signal)) {
// HandleSignalEvent(signal);
// }
// }
protected abstract void HandleSignalEvent(DingSignal signal);
public static void HandleSignalEvent(DingSignal signal)
{
NodeEditorWindow.current.Repaint();
}
