public void OnReceiveRosMessage(RosBridge.handyman.HandymanMsg handymanMsg)
{
if (this.receivedMessageMap.ContainsKey(handymanMsg.message))
{
// Check message order
if (handymanMsg.message == MsgIamReady)
{
if (this.step != ModeratorStep.WaitForIamReady)
{
SIGVerseLogger.Warn("Illegal timing. message : " + handymanMsg.message + ", step=" + this.step); return;
}
}
if (handymanMsg.message == MsgRoomReached)
{
if (this.step != ModeratorStep.WaitForRoomReached)
{
SIGVerseLogger.Warn("Illegal timing. message : " + handymanMsg.message + ", step=" + this.step); return;
}
}
if (handymanMsg.message == MsgDoesNotExist)
{
if (this.step != ModeratorStep.WaitForDoesNotExist && this.step != ModeratorStep.WaitForObjectGrasped)
{
SIGVerseLogger.Warn("Illegal timing. message : " + handymanMsg.message + ", step=" + this.step); return;
}
}
if (handymanMsg.message == MsgObjectGrasped)
{
if (this.step != ModeratorStep.WaitForDoesNotExist && this.step != ModeratorStep.WaitForObjectGrasped)
{
SIGVerseLogger.Warn("Illegal timing. message : " + handymanMsg.message + ", step=" + this.step); return;
}
}
if (handymanMsg.message == MsgTaskFinished)
{
if (this.step != ModeratorStep.WaitForTaskFinished)
{
SIGVerseLogger.Warn("Illegal timing. message : " + handymanMsg.message + ", step=" + this.step); return;
}
}
if (handymanMsg.message == MsgGiveUp)
{
this.OnGiveUp();
}
this.receivedMessageMap[handymanMsg.message] = true;
}
else
{
SIGVerseLogger.Warn("Received Illegal message : " + handymanMsg.message);
}
}
//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);
}
