public static void SaveToFile(string file, FileSaving config)
{
lock (_lock)
{
var xns = new System.Xml.Serialization.XmlSerializerNamespaces();
System.Xml.Serialization.XmlSerializer x = new System.Xml.Serialization.XmlSerializer(config.GetType());
System.IO.Stream stream;
if (config.GetType().Name != "opencv_storage")
{
stream = new System.IO.MemoryStream();
}
else
{
System.IO.File.WriteAllText(file, "");
stream = System.IO.File.OpenWrite(file);
}
xns.Add(string.Empty, string.Empty);
x.Serialize(stream, config, xns);
if (config.GetType().Name != "opencv_storage")
{
stream.Position = 0;
byte[] bs = new byte[stream.Length];
((System.IO.MemoryStream)stream).Read(bs, 0, bs.Length);
string s = xmlHeader + "<opencv_storage>" +
System.Text.Encoding.UTF8.GetString(bs).Replace(xmlHeader, "") + "</opencv_storage>";
System.IO.File.WriteAllText(file, s);
}
stream.Close();
}
}
/// <summary>
/// used by loadFileDialog
/// </summary>
/// <param name="dir">Dir.</param>
static void loadFileDialog_callback(string dir)
{
//lastUsedDirectory = dir;
Debug.Log("loaded file " + dir);
if (dir=="Cancel_pressed")
return;
//remove all world objects currently in scene (except for body/hands)
worldObject[] goArray = UnityEngine.MonoBehaviour.FindObjectsOfType(typeof(worldObject)) as worldObject[];
List<string> doNotRemove = new List<string>() { "leftHand", "rightHand", "mainBody" };
foreach (worldObject obj in goArray)
{
if (!doNotRemove.Contains(obj.objectName))
{
Debug.Log("destroying " + obj.objectName);
Destroy(obj.gameObject);
}
}
/*customItemController[] goA = UnityEngine.MonoBehaviour.FindObjectsOfType(typeof(customItemController)) as customItemController[];
foreach (customItemController c in goA)
{
string wName = c.objectName;
Debug.Log("have item " + wName);
}*/
FileSaving g = new FileSaving(dir); //loads the file
}
/// <summary>
/// opens fileName and automatically loads it over the current task
/// </summary>
/// <param name="fileName">File name.</param>
public FileSaving(string fileName)
{
loadObjs();
//load from fileName
Stream s = File.OpenRead(fileName);
BinaryFormatter bf = new BinaryFormatter();
FileSaving loaded = (FileSaving)bf.Deserialize(s);
s.Close();
//copy data from the loaded class to this
taskDescriptor = loaded.taskDescriptor;
worldObjects = loaded.worldObjects;
bodyX = loaded.bodyX;
bodyY = loaded.bodyY;
bodyRotation = loaded.bodyRotation;
rightHandX = loaded.rightHandX;
rightHandY = loaded.rightHandY;
leftHandX = loaded.leftHandX;
leftHandY = loaded.leftHandY;
gravityX = loaded.gravityX;
gravityY = loaded.gravityY;
gameSpeed = loaded.gameSpeed;
centerCamera = loaded.centerCamera;
showDetailedVisionMarkers = loaded.showDetailedVisionMarkers;
showPeripheralVisionMarkers = loaded.showPeripheralVisionMarkers;
loadToCurrentTask();
}
private static void SaveFile()
{
FileSaving?.Invoke();
var bytes = Serialize(_data);
File.WriteAllBytes(_savePath, bytes);
}
void OnGUI()
{
//Debug.Log("hi");
GUILayout.BeginHorizontal();
GUILayout.Label("PAGI-World\nA physically realistic simulation environment for artificial general intelligence systems");
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
if (GUILayout.Button("Load Main Task"))
{
Application.LoadLevel("scene");
}
#if UNITY_EDITOR
if (GUILayout.Button("Load Task From File"))
{
string path = (UnityEditor.EditorUtility.OpenFilePanel(
"Open Task File",
"",
"tsk"));
if (path != "" && path != null)
{
Application.LoadLevel("scene");
//remove all world objects currently in scene (except for body/hands)
worldObject[] goArray = UnityEngine.MonoBehaviour.FindObjectsOfType(typeof(worldObject)) as worldObject[];
List <string> doNotRemove = new List <string>()
{
"leftHand", "rightHand", "mainBody"
};
foreach (worldObject obj in goArray)
{
if (!doNotRemove.Contains(obj.objectName))
{
//Debug.Log("destroying " + obj.objectName);
Destroy(obj.gameObject);
}
}
FileSaving g = new FileSaving(path);
}
//Application.LoadLevel("scene");
}
#endif
GUILayout.EndHorizontal();
}
void OnGUI()
{
//Debug.Log("hi");
GUILayout.BeginHorizontal();
GUILayout.Label("PAGI-World\nA physically realistic simulation environment for artificial general intelligence systems");
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
if (GUILayout.Button("Load Main Task"))
Application.LoadLevel("scene");
#if UNITY_EDITOR
if (GUILayout.Button("Load Task From File"))
{
string path = (UnityEditor.EditorUtility.OpenFilePanel(
"Open Task File",
"",
"tsk"));
if (path!="" && path!=null)
{
Application.LoadLevel("scene");
//remove all world objects currently in scene (except for body/hands)
worldObject[] goArray = UnityEngine.MonoBehaviour.FindObjectsOfType(typeof(worldObject)) as worldObject[];
List<string> doNotRemove = new List<string>() { "leftHand", "rightHand", "mainBody" };
foreach (worldObject obj in goArray)
{
if (!doNotRemove.Contains(obj.objectName))
{
//Debug.Log("destroying " + obj.objectName);
Destroy(obj.gameObject);
}
}
FileSaving g = new FileSaving(path);
}
//Application.LoadLevel("scene");
}
#endif
GUILayout.EndHorizontal();
}
/// <summary>
/// used by saveFileDialog
/// </summary>
/// <param name="dir">Dir.</param>
static void saveFileDialog_callback(string s)
{
//lastUsedDirectory = s;
if (s!="" && s!=null)
{
if (s=="Cancel_pressed")
return;
bool noErrors = true;
try {
FileSaving f = new FileSaving();
f.taskDescriptor = "Default task descriptor";
Debug.Log("Saving to file " + s);
f.writeToFile(s);
}
catch(System.Exception e)
{
GlobalVariables.messageDisplay.showMessage("There was an error: " + e.ToString(), null, "Error");
noErrors = false;
}
if (noErrors)
GlobalVariables.messageDisplay.showMessage("File Saved Successfully!", null, "Awesome!");
}
}
public async Task <IActionResult> Upload([FromForm] IFormFile fileData)
{
try
{
if (fileData == null)
{
return(BadRequest("null file"));
}
if (fileData.Length == 0)
{
return(BadRequest("empty file"));
}
if (!accepted_FileTypes.Any(s => s == Path.GetExtension(fileData.FileName).ToLower()))
{
return(BadRequest("invalid file type."));
}
var folderName = Path.Combine("Resources", "Files");
var pathToSave = Path.Combine(Directory.GetCurrentDirectory(), folderName);
var fileName = ContentDispositionHeaderValue.Parse(fileData.ContentDisposition).FileName.Trim('"');
var fullpath = Path.Combine(pathToSave, fileName);
using (var stream = new FileStream(fullpath, FileMode.Create))
{
await fileData.CopyToAsync(stream);
}
var fileSaving = new FileSaving(mapper, fileRepository);
await fileSaving.SavingFileDataToDataBase(fullpath);
return(Ok());
}
catch (Exception)
{
return(StatusCode(500, "internal server error"));
}
}
public virtual void Save()
{
FileSaving.SaveToFile(fileName, this);
}
/// <summary>
/// The OnFileSaving
/// </summary>
/// <param name="e">The e<see cref="FileSavingEventArgs"/></param>
protected virtual void OnFileSaving(FileSavingEventArgs e)
{
FileSaving?.Invoke(this, e);
}
// Update is called once per frame
void Update()
{
if (GlobalVariables.centerCamera) //scroll camera
{
//Vector2 newLeft =
if (mainCamera == null)
Debug.Log("no camera");
else
mainCamera.transform.Translate((transform.position - mainCamera.transform.position) - new Vector3(0,0,10));
}
//Debug.Log(rigidbody2D.transform.rotation*new Vector2(0,100));
//Debug.Log (rigidbody2D.position);
//visualSensors[15,1].updateSensor();
//Debug.Log(visualSensors[15,1].name);
checkReflexes();
//check for messages in the message queue (which stores all messages sent by TCP clients)
while (messageQueue.Count() > 0)
{
AIMessage firstMsg;
while (!messageQueue.TryGet(0, out firstMsg))
Thread.Sleep(100);
/*Debug.Log (messageQueue.Count() + " MESSAGES IN QUEUE: " + firstMsg.ToString());
for (int i=0; i<messageQueue.Count(); i++)
{
AIMessage a;
while (!messageQueue.TryGet(i, out a))
Thread.Sleep(100);
Debug.Log("message " + i.ToString() + ": " + a.ToString());
}*/
while (!messageQueue.TryRemoveAt(0))
Thread.Sleep(100);
//process firstMsg
firstMsg.stringContent = firstMsg.stringContent.Trim();
switch (firstMsg.messageType)
{
case AIMessage.AIMessageType.other:
Debug.Log("received unrecognized command from client connection " + firstMsg.stringContent);
outgoingMessages.Add("UnrecognizedCommandError:" + firstMsg.stringContent.Trim() + "\n");
break;
case AIMessage.AIMessageType.createItem:
Debug.Log("Received command to create item");
Dictionary<string,System.Object> dd = (Dictionary<string,System.Object>)firstMsg.detail;
string wName = (string)dd["name"];
customItemController cic = Instantiate(emptyblock, new Vector3(), new Quaternion()) as customItemController;
if (!cic.initialize((string)dd["filePath"], wName, new Vector2((float)dd["x"], (float)dd["y"]),
(float)dd["rotation"], (float)dd["endorphins"], (float)dd["mass"], (int)dd["friction"], (int)dd["kinematic"]))
{
Debug.Log("file " + (string)dd["filePath"] + " not found");
outgoingMessages.Add("createItem,"+(string)dd["name"]+",FAILED,fileNotFound\n");
}
else
{
while (customItems.ContainsKey(wName))
{
if (customItems[wName] != null)
{
Destroy(customItems[wName].gameObject);
}
customItems.Remove(wName);
}
customItems.Add(wName,cic);
outgoingMessages.Add("createItem,"+(string)dd["name"]+",OK\n");
}
break;
case AIMessage.AIMessageType.addForceToItem:
Debug.Log ("Received command to addForceToItem");
//iterate through the customItems, remove any that no longer exist
List<string> toRemove = new List<string>();
foreach (string ky in customItems.Keys)
if (customItems[ky]==null)
toRemove.Add(ky);
foreach (string ky in toRemove)
customItems.Remove(ky);
//find the item to add force to, add it
if (!customItems.ContainsKey(firstMsg.stringContent))
{
outgoingMessages.Add("addForceToItem," + firstMsg.stringContent + ",ERR:Item_Name_Not_Found\n");
}
else
{
if (customItems[firstMsg.stringContent] == null)
{
customItems.Remove(firstMsg.stringContent);
outgoingMessages.Add("addForceToItem," + firstMsg.stringContent + ",ERR:Object_Deleted\n");
}
else
{
customItems[firstMsg.stringContent].rigidbody2D.AddForce(firstMsg.vectorContent);
customItems[firstMsg.stringContent].rigidbody2D.AddTorque(firstMsg.floatContent);
outgoingMessages.Add("addForceToItem," + firstMsg.stringContent + ",OK\n");
}
}
break;
case AIMessage.AIMessageType.getInfoAboutItem:
Debug.Log ("Received command to getInfoAboutItem");
//find the item to add force to, add it
if (!customItems.ContainsKey(firstMsg.stringContent))
{
outgoingMessages.Add("getInfoAboutItem," + firstMsg.stringContent + ",ERR:Item_Name_Not_Found\n");
}
else
{
if (customItems[firstMsg.stringContent] == null)
{
customItems.Remove(firstMsg.stringContent);
outgoingMessages.Add("getInfoAboutItem," + firstMsg.stringContent + ",ERR:Object_Deleted\n");
}
else
{
worldObject wo = customItems[firstMsg.stringContent];
string toReturn = "getInfoAboutItem," + firstMsg.stringContent + ",";
toReturn = toReturn + wo.transform.position.x.ToString() + "," + wo.transform.position.y.ToString() + ",";
toReturn = toReturn + wo.rigidbody2D.velocity.x.ToString() + "," + wo.rigidbody2D.velocity.y.ToString() + "\n";
outgoingMessages.Add(toReturn);
}
}
break;
case AIMessage.AIMessageType.destroyItem:
Debug.Log ("Received command to destroyItem");
//find the item to add force to, add it
if (!customItems.ContainsKey(firstMsg.stringContent))
{
outgoingMessages.Add("destroyItem," + firstMsg.stringContent + ",ERR:Item_Name_Not_Found\n");
}
else
{
if (customItems[firstMsg.stringContent] == null)
{
customItems.Remove(firstMsg.stringContent);
outgoingMessages.Add("destroyItem," + firstMsg.stringContent + ",WARNING:Object_Already_Deleted\n");
}
else
{
Destroy(customItems[firstMsg.stringContent].gameObject);
customItems.Remove(firstMsg.stringContent);
outgoingMessages.Add("destroyItem," + firstMsg.stringContent + ",OK\n");
}
}
break;
case AIMessage.AIMessageType.print:
Debug.Log("received command to print message");
Debug.Log("AI-side says: " + firstMsg.stringContent);
outgoingMessages.Add("print,OK\n");
break;
case AIMessage.AIMessageType.findObj:
Debug.Log("received message to find object: " + firstMsg.stringContent);
string toReturn = "findObj," + firstMsg.stringContent;
string searchType = ((string)firstMsg.detail).Trim();
//Debug.Log(searchType);
if (searchType == "D" || searchType == "PD")
{
//Debug.Log("Checking detailed sensor");
foreach (visualSensor v in visualSensors)
{
v.updateSensor();
if (v.name.Trim() == firstMsg.stringContent.Trim())
toReturn += ",V" + v.indexX.ToString() + "." + v.indexY.ToString();
}
}
if (searchType == "P" || searchType == "PD")
{
foreach (visualSensor p in peripheralSensors)
{
p.updateSensor();
if (p.name.Trim() == firstMsg.stringContent.Trim())
toReturn += ",P" + p.indexX.ToString() + "." + p.indexY.ToString();
}
}
outgoingMessages.Add(toReturn + "\n");
break;
case AIMessage.AIMessageType.loadTask:
Debug.Log("received message to load new task");
toReturn = "loadTask," + firstMsg.stringContent.Trim();
//remove all world objects currently in scene (except for body/hands)
worldObject[] goArray = UnityEngine.MonoBehaviour.FindObjectsOfType(typeof(worldObject)) as worldObject[];
List<string> doNotRemove = new List<string>() { "leftHand", "rightHand", "mainBody" };
foreach (worldObject obj in goArray)
{
if (!doNotRemove.Contains(obj.objectName))
{
Destroy(obj.gameObject);
}
}
bool loadedOk = true;
try
{
FileSaving fs = new FileSaving(firstMsg.stringContent);
}
catch(Exception e)
{
string errDesc = e.ToString().Replace('\n',';');
errDesc = errDesc.Replace('\r',' ');
outgoingMessages.Add(toReturn + ",ERR," + errDesc + "\n");
loadedOk = false;
}
if (loadedOk)
outgoingMessages.Add(toReturn + ",OK\n");
break;
case AIMessage.AIMessageType.setState:
//is the state already active? If so, replace the time
State foundState = null;
foreach (State st in GlobalVariables.activeStates.getCopy())
{
if (st.stateName == firstMsg.stringContent)
{
foundState = st;
break;
}
}
//Debug.Log("foundstate for " + firstMsg.stringContent + " " + (foundState!=null).ToString());
if (foundState!=null)
{
//replace state
GlobalVariables.activeStates.TryRemove(foundState);
}
if (((State)firstMsg.detail).lifeTime != TimeSpan.Zero)
GlobalVariables.activeStates.Add((State)firstMsg.detail);
outgoingMessages.Add("stateUpdated," + firstMsg.stringContent.Trim() + "\n");
break;
case AIMessage.AIMessageType.getReflexes:
string toR = "activeReflexes";
foreach (Reflex r in GlobalVariables.activeReflexes.getCopy())
{
toR += "," + r.reflexName;
}
outgoingMessages.Add(toR + "\n");
break;
case AIMessage.AIMessageType.getStates:
toR = "activeStates:";
List<State> allStates = GlobalVariables.activeStates.getCopy();
foreach (State sta in allStates)
{
toR += sta.stateName + ",";
}
if (allStates.Count == 0)
toR += "(none)";
else
toR = toR.Substring(0, toR.Length-1);
outgoingMessages.Add(toR + "\n");
break;
case AIMessage.AIMessageType.removeReflex:
Reflex re = null;
foreach (Reflex R in GlobalVariables.activeReflexes.getCopy())
{
Debug.Log("comparing " + R.reflexName + " to " + firstMsg.stringContent);
if (R.reflexName.Trim() == firstMsg.stringContent.Trim())
{
re = R;
break;
}
}
if (re!=null)
{
GlobalVariables.activeReflexes.TryRemove(re);
outgoingMessages.Add("removedReflex," + firstMsg.stringContent.Trim() + ",OK\n");
}
else
outgoingMessages.Add("removedReflexFAILED" + firstMsg.stringContent.Trim() + ",FAILED\n");
break;
case AIMessage.AIMessageType.setReflex:
//does a reflex with this name already exist? If so, replace it
re = null;
foreach (Reflex R in GlobalVariables.activeReflexes.getCopy())
{
if (R.reflexName.Trim() == firstMsg.stringContent.Trim())
{
re = R;
break;
}
}
if (re!=null)
GlobalVariables.activeReflexes.TryRemove(re);
GlobalVariables.activeReflexes.Add((Reflex)firstMsg.detail);
outgoingMessages.Add("reflexUpdated," + firstMsg.stringContent + "\n");
break;
case AIMessage.AIMessageType.dropItem:
Debug.Log("received command to create " + firstMsg.stringContent + " at " + firstMsg.vectorContent);
//if required, there is additional content at firstMsg.detail
//find the asset that matches the name
bool loaded = false;
foreach (worldObject s in Resources.LoadAll<worldObject>("Prefabs"))
{
if (s.objectName==firstMsg.stringContent.Trim())
{
worldObject newObj = MonoBehaviour.Instantiate(s,//Resources.Load<GameObject>(wo.assetPath)
new Vector3(firstMsg.vectorContent.x, firstMsg.vectorContent.y),
new Quaternion()) as worldObject;
loaded = true;
break;
}
}
if (!loaded)
outgoingMessages.Add("dropItem," + firstMsg.stringContent + ",FAILED:obj_not_found\n");
else
outgoingMessages.Add("dropItem," + firstMsg.stringContent + ",OK\n");
break;
case AIMessage.AIMessageType.addForce:
Debug.Log("executing addForce command: " + firstMsg.messageType.ToString());
//do we need to evaluate the force value, e.g. if there is a function?
switch (firstMsg.stringContent)
{
case "TEST":
/*string s = "";
int numToSend = int.Parse(firstMsg.floatContent.ToString());
Debug.Log("creating string ("+numToSend.ToString()+")");
for (int i=0; i<numToSend; i++)
s += "X";*/
Debug.Log("got TEST msg: " + firstMsg.function1.evaluate(getSensorAspectValue));
//outgoingMessages.Add(s+'\n');
break;
/*LHV,LHH - Left hand vertical and horizontal. v is the amount of force (positive or negative) to add in each dimension.
RHV,RHH - Right hand vertical and horizontal. v is the amount of force (positive or negative) to add in each dimension.
BMV,BMH - Body vertical and horizontal. v is the amount of force (positive or negative) to add in each dimension.
BR - Body rotation right or left. v is the amount of torque to use to rotate the body (can be positive or negative).
RHG,RHR - Right hand grip and release. v is required, but ignored here. A hand is either in a state of gripping or it isn't.
LHG,LHR - Left hand grip and release. v is required, but ignored here. A hand is either in a state of gripping or it isn't.*/
case "LHH":
Vector2 f = rigidbody2D.transform.rotation*new Vector2(firstMsg.function1.evaluate(getSensorAspectValue),0);//new Vector2(Mathf.Cos(Mathf.Deg2Rad*-rigidbody2D.rotation)*firstMsg.floatContent,Mathf.Sin(Mathf.Deg2Rad*-rigidbody2D.rotation)*firstMsg.floatContent);
leftHandRigidBody.AddForce(f);
rigidbody2D.AddForce(-f);
//rigidbody2D.AddForce(new Vector2(0, 10000));
outgoingMessages.Add("LHH,1\n");
break;
case "LHV":
f = rigidbody2D.transform.rotation*new Vector2(0,firstMsg.function1.evaluate(getSensorAspectValue));//new Vector2(Mathf.Sin(Mathf.Deg2Rad*-rigidbody2D.rotation)*firstMsg.floatContent,Mathf.Cos(Mathf.Deg2Rad*-rigidbody2D.rotation)*firstMsg.floatContent);
leftHandRigidBody.AddForce(f);//, ForceMode2D.Impulse);
rigidbody2D.AddForce(-f);
outgoingMessages.Add("LHV,1\n");
break;
case "LHvec":
f = rigidbody2D.transform.rotation*
(new Vector2(firstMsg.function1.evaluate(getSensorAspectValue), firstMsg.function2.evaluate(getSensorAspectValue)));
leftHandRigidBody.AddForce(f);//, ForceMode2D.Impulse);
rigidbody2D.AddForce(-f);
outgoingMessages.Add("LHvec,1\n");
break;
case "RHH":
f = rigidbody2D.transform.rotation*new Vector2(firstMsg.function1.evaluate(getSensorAspectValue),0);//new Vector2(Mathf.Cos(Mathf.Deg2Rad*-rigidbody2D.rotation)*firstMsg.floatContent,Mathf.Sin(Mathf.Deg2Rad*-rigidbody2D.rotation)*firstMsg.floatContent);
rightHandRigidBody.AddForce(f);
rigidbody2D.AddForce(-f);
//rigidbody2D.AddForce(new Vector2(0, 10000));
outgoingMessages.Add("RHH,1\n");
break;
case "RHV":
f = rigidbody2D.transform.rotation*new Vector2(0,firstMsg.function1.evaluate(getSensorAspectValue));//new Vector2(Mathf.Sin(Mathf.Deg2Rad*-rigidbody2D.rotation)*firstMsg.floatContent,Mathf.Cos(Mathf.Deg2Rad*-rigidbody2D.rotation)*firstMsg.floatContent);
rightHandRigidBody.AddForce(f);//, ForceMode2D.Impulse);
rigidbody2D.AddForce(-f);
outgoingMessages.Add("RHV,1\n");
break;
case "RHvec":
f = rigidbody2D.transform.rotation*
(new Vector2(firstMsg.function1.evaluate(getSensorAspectValue), firstMsg.function2.evaluate(getSensorAspectValue)));;
rigidbody2D.AddForce(-f);
rightHandRigidBody.AddForce(f);
outgoingMessages.Add("RHvec,1\n");
break;
case "BMH":
f = rigidbody2D.transform.rotation*new Vector2(firstMsg.function1.evaluate(getSensorAspectValue),0);//new Vector2(Mathf.Cos(Mathf.Deg2Rad*rigidbody2D.rotation)*firstMsg.floatContent,Mathf.Sin(Mathf.Deg2Rad*rigidbody2D.rotation)*firstMsg.floatContent);
rigidbody2D.AddForce(f);
outgoingMessages.Add("BMH,1\n");
break;
case "BMV":
f = rigidbody2D.transform.rotation*new Vector2(0,firstMsg.function1.evaluate(getSensorAspectValue));//new Vector2(Mathf.Sin(Mathf.Deg2Rad*-rigidbody2D.rotation)*firstMsg.floatContent,Mathf.Cos(Mathf.Deg2Rad*-rigidbody2D.rotation)*firstMsg.floatContent);
rigidbody2D.AddForce(f);
Debug.Log("added f: " + f.y);
outgoingMessages.Add("BMV,1\n");
break;
case "BMvec":
f = rigidbody2D.transform.rotation*
(new Vector2(firstMsg.function1.evaluate(getSensorAspectValue), firstMsg.function2.evaluate(getSensorAspectValue)));
rigidbody2D.AddForce(f);
outgoingMessages.Add("BMvec,1\n");
break;
case "J": //jump
bool foundGround = jump(30000f);
if (foundGround)
outgoingMessages.Add("J,1\n");
else
outgoingMessages.Add("J,0\n");
break;
case "BR":
rigidbody2D.rotation += firstMsg.function1.evaluate(getSensorAspectValue);
leftHand.rigidbody2D.rotation = rigidbody2D.rotation;
rightHand.rigidbody2D.rotation = rigidbody2D.rotation;
rigidbody2D.AddForce(Vector2.zero); //forces update of rotation
outgoingMessages.Add ("BR,1\n");
break;
case "RHG":
setGrip(false, true);
outgoingMessages.Add ("RHG,1\n");
break;
case "RHR":
setGrip(false, false);
outgoingMessages.Add ("RHR,1\n");
break;
case "LHG":
setGrip(true, true);
outgoingMessages.Add ("LHG,1\n");
break;
case "LHR":
setGrip(true, false);
outgoingMessages.Add ("LHR,1\n");
break;
}
break;
case AIMessage.AIMessageType.sensorRequest:
Debug.Log("checking sensor value " + firstMsg.ToString());
switch (firstMsg.stringContent[0])
{
case 'M': //a full map of the visual field
if (firstMsg.stringContent.Trim() == "MDN") //detailed visual field (names only)
{
StringBuilder sb = new StringBuilder("MDN,");
//string toReturn = "MDN,";
for (int y=0; y<numVisualSensorsY; y++)
{
for (int x=0; x<numVisualSensorsX; x++)
{
visualSensor s = visualSensors[x,y];
s.updateSensor();
string sName = s.name;
if (sName=="Background")
sName = "";
sb.Append(sName + ",");
}
}
sb[sb.Length-1] = '\n';
Debug.Log("msg is " + sb.ToString());
outgoingMessages.Add(sb.ToString());
}
else if (firstMsg.stringContent.Trim() == "MPN") //peripheral visual field (names only)
{
StringBuilder sb = new StringBuilder("MPN,");
int count = 0;
for (int y=0; y<numPeripheralSensorsY; y++)
{
for (int x=0; x<numPeripheralSensorsX; x++)
{
visualSensor s = peripheralSensors[x,y];
s.updateSensor();
string sName = s.name;
if (sName=="Background")
sName = "";
sb.Append(sName + ",");
count++;
}
}
Debug.Log(count);
sb[sb.Length-1] = '\n';
outgoingMessages.Add(sb.ToString());
}
else
outgoingMessages.Add("sensorRequest,UNRECOGNIZED_SENSOR_ERROR:"+firstMsg.stringContent.Trim()+"\n");
break;
case 'B': //body touch sensor B0-B7
if (firstMsg.stringContent[1]=='P') //body position
{
Vector2 v = rigidbody2D.position;
outgoingMessages.Add("BP," + v.x.ToString() + "," + v.y.ToString() + "\n");
}
else
{
int sensorNum = int.Parse(firstMsg.stringContent[1].ToString());
touchSensor sensor = bodySensor[sensorNum];
sensor.updateSensor();
outgoingMessages.Add("B" + sensorNum.ToString() + "," + sensor.getReport() + "\n");
}
break;
case 'S': //speed sensor
Vector2 v = rigidbody2D.GetRelativePointVelocity(Vector2.zero);
outgoingMessages.Add ("S," + v.x.ToString () + "," + v.y.ToString() + "\n");
break;
case 'L': //L0-L4, or LP
if (firstMsg.stringContent[1]=='P')
{//proprioception; get sensor position relative to body
leftHandSensor[4].updateSensor(); //recall sensor 4 is right in the middle of the hand
Vector2 relativePoint = rigidbody2D.GetPoint(leftHandSensor[4].getPosition());
outgoingMessages.Add("LP," + relativePoint.x.ToString () + "," + relativePoint.y.ToString() + "\n");
}
else
{
int sensorNum = int.Parse(firstMsg.stringContent[1].ToString());
touchSensor sensor = leftHandSensor[sensorNum];
sensor.updateSensor();
outgoingMessages.Add("L" + sensorNum.ToString() + "," + sensor.getReport() + "\n");
}//test
break;
case 'R': //R0-R4, or RP
if (firstMsg.stringContent[1]=='P')
{//proprioception; get sensor position relative to body
rightHandSensor[4].updateSensor();
Vector2 relativePoint = rigidbody2D.GetPoint(rightHandSensor[4].getPosition());
outgoingMessages.Add("RP," + relativePoint.x.ToString () + "," + relativePoint.y.ToString() + "\n");
}
else
{
int sensorNum = int.Parse(firstMsg.stringContent[1].ToString());
touchSensor sensor = rightHandSensor[sensorNum];
sensor.updateSensor();
outgoingMessages.Add("R" + sensorNum.ToString() + "," + sensor.getReport() + "\n");
}
break;
case 'V': //visual sensor V0.0 - V30.20
string[] tmp = firstMsg.stringContent.Substring(1).Split('.');
//Debug.Log(tmp[0] + ", " + tmp[1]);
int x = int.Parse(tmp[0]);
int y = int.Parse(tmp[1]);
visualSensor s = visualSensors[x,y];
s.updateSensor();
string response = firstMsg.stringContent.Trim();
for (int i=0; i<s.vq.Length; i++)
response += "," + s.vq[i].ToString();
response += "," + s.type + "," + s.name + "\n";
outgoingMessages.Add(response);
break;
case 'P': //peripheral sensor V0.0 - V15.10
tmp = firstMsg.stringContent.Substring(1).Split('.');
//Debug.Log(tmp[0] + ", " + tmp[1]);
x = int.Parse(tmp[0]);
y = int.Parse(tmp[1]);
s = peripheralSensors[x,y];
s.updateSensor();
response = firstMsg.stringContent.Trim();
for (int i=0; i<s.vq.Length; i++)
response += "," + s.vq[i].ToString();
response += "," + s.type + "," + s.name + "\n";
outgoingMessages.Add(response);
break;
case 'A': //rotation sensor
outgoingMessages.Add("A," + (Mathf.Deg2Rad*rigidbody2D.rotation).ToString() + "\n");
break;
default:
outgoingMessages.Add("sensorRequest,UNRECOGNIZED_SENSOR_ERROR:"+firstMsg.stringContent.Trim()+"\n");
break;
}
//TODO
break;
case AIMessage.AIMessageType.establishConnection:
break;
case AIMessage.AIMessageType.removeConnection:
break;
default:
break;
}
}
//update arm positions
//leftHand.objectName = "hi";
Vector2 leftRelativePoint = gameObject.rigidbody2D.GetRelativePoint(leftHand.GetComponent<DistanceJoint2D>().connectedAnchor);
Vector3 leftAnchor = new Vector3(leftRelativePoint.x, leftRelativePoint.y);
leftArm[0].transform.position = (leftHand.transform.position*1/3 + leftAnchor*2/3);
leftArm[1].transform.position = (leftHand.transform.position*2/3 + leftAnchor*1/3);
Vector2 rightRelativePoint = gameObject.rigidbody2D.GetRelativePoint(rightHand.GetComponent<DistanceJoint2D>().connectedAnchor);
Vector3 rightAnchor = new Vector3(rightRelativePoint.x, rightRelativePoint.y);
rightArm[0].transform.position = (rightHand.transform.position*1/3 + rightAnchor*2/3);
rightArm[1].transform.position = (rightHand.transform.position*2/3 + rightAnchor*1/3);
//updateSensors();
//////keyboard controls///////
//hand gripping
if (Input.GetKeyDown(KeyCode.LeftShift))
setGrip(true, true);
if (Input.GetKeyUp(KeyCode.LeftShift))
setGrip(true, false);
if (Input.GetKeyDown(KeyCode.RightShift))
setGrip(false, true);
if (Input.GetKeyUp(KeyCode.RightShift))
setGrip(false, false);
if (Input.GetKeyDown(KeyCode.P))
powerMode = !powerMode;
float handMoveForce = 50f;
if (powerMode)
handMoveForce *= 10;
//right hand
if (Input.GetKey(KeyCode.UpArrow)) {//GetKeyDown is one-time press only
//transform.Translate(new Vector3(1,0,0));
Vector2 f = rigidbody2D.transform.rotation*new Vector2(0,handMoveForce);//new Vector2(Mathf.Sin(Mathf.Deg2Rad*-rigidbody2D.rotation)*firstMsg.floatContent,Mathf.Cos(Mathf.Deg2Rad*-rigidbody2D.rotation)*firstMsg.floatContent);
rightHandRigidBody.AddForce(f);//, ForceMode2D.Impulse);
rigidbody2D.AddForce(-f);
}
if (Input.GetKey (KeyCode.DownArrow)) {
Vector2 f = rigidbody2D.transform.rotation*new Vector2(0,-handMoveForce);//new Vector2(Mathf.Sin(Mathf.Deg2Rad*-rigidbody2D.rotation)*firstMsg.floatContent,Mathf.Cos(Mathf.Deg2Rad*-rigidbody2D.rotation)*firstMsg.floatContent);
rightHandRigidBody.AddForce(f);//, ForceMode2D.Impulse);
rigidbody2D.AddForce(-f);
}
if (Input.GetKey(KeyCode.LeftArrow))
{
Vector2 f = rigidbody2D.transform.rotation*new Vector2(-handMoveForce,0);//new Vector2(Mathf.Sin(Mathf.Deg2Rad*-rigidbody2D.rotation)*firstMsg.floatContent,Mathf.Cos(Mathf.Deg2Rad*-rigidbody2D.rotation)*firstMsg.floatContent);
rightHandRigidBody.AddForce(f);//, ForceMode2D.Impulse);
rigidbody2D.AddForce(-f);
}
if (Input.GetKey(KeyCode.RightArrow))
{
Vector2 f = rigidbody2D.transform.rotation*new Vector2(handMoveForce,0);//new Vector2(Mathf.Sin(Mathf.Deg2Rad*-rigidbody2D.rotation)*firstMsg.floatContent,Mathf.Cos(Mathf.Deg2Rad*-rigidbody2D.rotation)*firstMsg.floatContent);
rightHandRigidBody.AddForce(f);//, ForceMode2D.Impulse);
rigidbody2D.AddForce(-f);
}
//left hand
if (Input.GetKey (KeyCode.W)) {//GetKeyDown is one-time press only
//transform.Translate(new Vector3(1,0,0));
Vector2 f = rigidbody2D.transform.rotation*new Vector2(0,handMoveForce);//new Vector2(Mathf.Sin(Mathf.Deg2Rad*-rigidbody2D.rotation)*firstMsg.floatContent,Mathf.Cos(Mathf.Deg2Rad*-rigidbody2D.rotation)*firstMsg.floatContent);
leftHandRigidBody.AddForce(f);
rigidbody2D.AddForce(-f);
}
if (Input.GetKey (KeyCode.S)) {
Vector2 f = rigidbody2D.transform.rotation*new Vector2(0,-handMoveForce);//new Vector2(Mathf.Sin(Mathf.Deg2Rad*-rigidbody2D.rotation)*firstMsg.floatContent,Mathf.Cos(Mathf.Deg2Rad*-rigidbody2D.rotation)*firstMsg.floatContent);
leftHandRigidBody.AddForce(f);
rigidbody2D.AddForce(-f);
}
if (Input.GetKey(KeyCode.A))
{
Vector2 f = rigidbody2D.transform.rotation*new Vector2(-handMoveForce,0);//new Vector2(Mathf.Sin(Mathf.Deg2Rad*-rigidbody2D.rotation)*firstMsg.floatContent,Mathf.Cos(Mathf.Deg2Rad*-rigidbody2D.rotation)*firstMsg.floatContent);
leftHandRigidBody.AddForce(f);
rigidbody2D.AddForce(-f);
}
if (Input.GetKey(KeyCode.D))
{
Vector2 f = rigidbody2D.transform.rotation*new Vector2(handMoveForce,0);//new Vector2(Mathf.Sin(Mathf.Deg2Rad*-rigidbody2D.rotation)*firstMsg.floatContent,Mathf.Cos(Mathf.Deg2Rad*-rigidbody2D.rotation)*firstMsg.floatContent);
leftHandRigidBody.AddForce(f);
rigidbody2D.AddForce(-f);
}
/*if (Input.GetKeyDown(KeyCode.LeftShift))
{
leftHandRigidBody.AddForce(new Vector2(-1000, 0));
rightHandRigidBody.AddForce(new Vector2(-1000, 0));
rigidbody2D.AddForce(new Vector2(2000, 0));
}
if (Input.GetKeyDown(KeyCode.RightShift))
{
leftHandRigidBody.AddForce(new Vector2(1000, 0));
rightHandRigidBody.AddForce(new Vector2(1000, 0));
rigidbody2D.AddForce(new Vector2(-2000, 0));
}*/
if (Input.GetKeyDown(KeyCode.Space))
jump(30000f);
if (Input.GetKey(KeyCode.V))
GlobalVariables.viewControlsVisible = true;
//Rotate
if (Input.GetKey(KeyCode.R))
{
rigidbody2D.rotation += 1.0f;
rigidbody2D.rotation %= 360f;
leftHandRigidBody.rotation = rigidbody2D.rotation;
rightHandRigidBody.rotation = rigidbody2D.rotation;
//Debug.Log (rigidbody2D.GetRelativePoint(rightAnchor));
rigidbody2D.AddForce(new Vector2(0,0)); //this forces the screen to update his rotation
}
if (Input.GetKey(KeyCode.T))
{
rigidbody2D.rotation -= 1.0f;
rigidbody2D.rotation %= 360f;
leftHandRigidBody.rotation = rigidbody2D.rotation;
rightHandRigidBody.rotation = rigidbody2D.rotation;
//Debug.Log (rigidbody2D.GetRelativePoint(rightAnchor));
rigidbody2D.AddForce(new Vector2(0,0)); //this forces the screen to update his rotation
}
//Move
if (Input.GetKey(KeyCode.F))
rigidbody2D.AddForce(rigidbody2D.transform.rotation*(new Vector2(-500f,0)));
if (Input.GetKey(KeyCode.G))
rigidbody2D.AddForce(transform.rotation*new Vector2(500f,0));
}
/// <summary>
/// used by loadFileDialog
/// </summary>
/// <param name="dir">Dir.</param>
static void loadFileDialog_callback(string dir)
{
//lastUsedDirectory = dir;
Debug.Log("loaded file " + dir);
if (dir=="Cancel_pressed")
return;
//remove all world objects currently in scene (except for body/hands)
worldObject[] goArray = UnityEngine.MonoBehaviour.FindObjectsOfType(typeof(worldObject)) as worldObject[];
List<string> doNotRemove = new List<string>() { "leftHand", "rightHand", "mainBody" };
foreach (worldObject obj in goArray)
{
if (!doNotRemove.Contains(obj.objectName))
{
Debug.Log("destroying " + obj.objectName);
Destroy(obj.gameObject);
}
}
/*customItemController[] goA = UnityEngine.MonoBehaviour.FindObjectsOfType(typeof(customItemController)) as customItemController[];
foreach (customItemController c in goA)
{
string wName = c.objectName;
Debug.Log("have item " + wName);
}*/
FileSaving g = new FileSaving(dir); //loads the file
}
/// <summary>
/// used by saveFileDialog
/// </summary>
/// <param name="dir">Dir.</param>
static void saveFileDialog_callback(string s)
{
//lastUsedDirectory = s;
if (s!="" && s!=null)
{
if (s=="Cancel_pressed")
return;
bool noErrors = true;
try {
FileSaving f = new FileSaving();
f.taskDescriptor = "Default task descriptor";
Debug.Log("Saving to file " + s);
f.writeToFile(s);
}
catch(System.Exception e)
{
GlobalVariables.messageDisplay.showMessage("There was an error: " + e.ToString(), null, "Error");
noErrors = false;
}
if (noErrors)
GlobalVariables.messageDisplay.showMessage("File Saved Successfully!", null, "Awesome!");
}
}
private void OnFileSaving(object sender, FileSavingArgs e)
{
FileSaving?.Invoke(this, e);
}
private void OnFileSaving(string path)
{
Log.InfoF($"Saving file: {path}...");
FileSaving?.Invoke(this, path);
}
