public void OnReceiveRosMessage(RosBridge.human_navigation.HumanNaviMsg humanNaviMsg)
{
if (!this.isDuringSession)
{
SIGVerseLogger.Warn("Illegal timing [session is not started]");
return;
}
if (this.receivedMessageMap.ContainsKey(humanNaviMsg.message))
{
if (humanNaviMsg.message == MsgIamReady)
{
if (this.step != Step.WaitForIamReady)
{
SIGVerseLogger.Warn("Illegal timing [message : " + humanNaviMsg.message + ", step:" + this.step + "]");
return;
}
}
if (humanNaviMsg.message == MsgGetAvatarStatus)
{
this.SendRosAvatarStatusMessage();
}
if (humanNaviMsg.message == MsgGetObjectStatus)
{
this.SendRosObjectStatusMessage();
}
if (humanNaviMsg.message == MsgGetSpeechState)
{
this.SendRosHumanNaviMessage(MsgSpeechState, this.sessionManager.GetSeechRunStateMsgString());
}
if (humanNaviMsg.message == MsgGiveUp)
{
this.OnGiveUp();
}
this.receivedMessageMap[humanNaviMsg.message] = true;
}
else
{
SIGVerseLogger.Warn("Received Illegal message [message: " + humanNaviMsg.message + "]");
}
}
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);
}
}
public void ForwardSubRosMessage(RosBridge.human_navigation.HumanNaviMsg humanNaviMsg)
{
this.photonView.RPC("ForwardSubRosMessageRPC", RpcTarget.All, humanNaviMsg.message, humanNaviMsg.detail);
}
