/// <summary>
/// this is the state machine that controls the interaction
/// </summary>
public void InteractionStateUpdate()
{
if (!GraspStateController.IsActive)
{
this.Started = false;
return;
}
if (GraspStateController.Verbose)
{
UnityEngine.Debug.Log("timer called, in state = " + CurrentInteractionState.InteractionStage.ToString() + "...");
}
switch (this.CurrentInteractionState.InteractionStage)
{
case InteractionStage.STARTUP:
if (GraspStateController.Verbose)
{
UnityEngine.Debug.Log("startup...");
}
this.HandPoseController.resetInitialPoseChecks();
this.HandPoseController.setControllerMode(PoseController.PoseControllerMode.CHECK);
this.FeedbackDisplay.text = "";
if (GraspStateController.Verbose)
{
UnityEngine.Debug.Log("startup done...");
}
break;
case InteractionStage.TARGET_PRESENTATION:
// just paranoia, it is highly unlikely that something like this happens
if (this.Target.GetComponent <GraspableObject>().IsGrabbed())
{
GraspController[] hands = GameObject.FindObjectsOfType <GraspController>();
foreach (GraspController hand in hands)
{
hand.requestRelease();
}
}
// disable the pose check
this.HandPoseController.setControllerMode(PoseController.PoseControllerMode.IDLE);
GraspableObject graspable = this.Target.GetComponent <GraspableObject>();
graspable.ResetVariables();
// TODO: display the bottle either upright or upside down, depending on the
// bottleOrientationMode string, you can use the InitialTargetPosition variable
// and the ResetPositionAndOrientation of the Graspable script
// TODO: enable the physics of the bottle
if (this.bottleOrientationMode == "upright")
{
graspable.ResetPositionAndOrientation(0.0f, this.InitialTargetPosition);
if (GraspStateController.Verbose)
{
Debug.Log("upright target...");
}
}
else if (this.bottleOrientationMode == "upsidedown")
{
graspable.ResetPositionAndOrientation(180.0f, this.InitialTargetPosition);
if (GraspStateController.Verbose)
{
Debug.Log("rotated target...");
}
}
this.Target.GetComponent <Rigidbody>().isKinematic = false;
this.Target.GetComponent <Rigidbody>().useGravity = true;
this.CurrentInteractionState.InteractionStage = InteractionStage.GRASPING_INTERACTION;
// enable range check
this.InteractionState = Interactioncontroller.InteractionStates.NONE;
this.CheckInteractionState = true;
this.RangeCheck.clearMonitor();
// TODO: add the target to the monitor, have a look at the EffectorRangeCheck script
this.RangeCheck.monitorObject(this.Target);
if (Verbose)
{
Debug.Log("current interaction state: " + CurrentInteractionState.InteractionStage);
}
break;
case InteractionStage.GRASPING_INTERACTION:
if (GraspStateController.Verbose)
{
Debug.Log("response state...");
}
this.CheckInteractionState = false;
if (this.InteractionState != Interactioncontroller.InteractionStates.IN_BOX)
{
this.cancelInteractionSequence();
}
else
{
this.FeedbackDisplay.text = this.positiveFeedbackTemplates[UnityEngine.Random.Range(0, this.positiveFeedbackTemplates.Length - 1)];
this.deactivateTarget();
this.InteractionState = Interactioncontroller.InteractionStates.NONE;
// clear monitor
this.RangeCheck.clearMonitor();
this.PoseCheckTimeStamp = -1L;
}
this.CurrentInteractionState.InteractionStage = InteractionStage.WAITING;
StartCoroutine(this.FeedbackInterval());
break;
}
}
public void TrialUpdate()
{
if (!SpeechTrainingController.IsActive)
{
this.Started = false;
return;
}
if (SpeechTrainingController.Verbose)
{
UnityEngine.Debug.Log("timer called, in state = " + CurrentTrialState.TrialState.ToString() + "...");
}
switch (this.CurrentTrialState.TrialState)
{
case TrainingStates.STARTUP:
if (SpeechTrainingController.Verbose)
{
UnityEngine.Debug.Log("startup...");
}
this.HandPoseController.resetInitialPoseChecks();
this.HandPoseController.setControllerMode(PoseController.PoseControllerMode.CHECK);
this.FeedbackDisplay.text = "";
if (SpeechTrainingController.Verbose)
{
UnityEngine.Debug.Log("startup done...");
}
break;
case TrainingStates.INIT:
this.CurrentCongruencyCondition = "";
this.CorrectResponse = false;
this.StimulationOnset = -1L;
this.VerbalResponseTime = -1L;
this.CurrentTrialState.TrialState = TrainingStates.FIXATION;
this.FixationObject.transform.position = this.InitialTargetPosition;
if (SpeechTrainingController.Verbose)
{
UnityEngine.Debug.Log("dummy fixation interval");
}
StartCoroutine(CoroutineTimer.Start(CurrentTrialState.getSleepInterval() * .001f, this.TrialUpdateDelegate));
break;
case TrainingStates.FIXATION:
this.CurrentTrialState.TrialState = TrainingStates.SOA;
this.FixationObject.transform.position = new Vector3(0, -10, 0);
StartCoroutine(CoroutineTimer.Start(CurrentTrialState.getSleepInterval() * .001f, this.TrialUpdateDelegate));
// stimulation
int stimulationTime = UnityEngine.Random.Range(-150, 150);
float timeout = (CurrentTrialState.getSleepInterval() + stimulationTime) * .001f;
StartCoroutine(this.TimeBasedStimulation(timeout));
break;
case TrainingStates.SOA:
this.messageObtained = false;
if (this.Target.GetComponent <GraspableObject>().IsGrabbed())
{
GraspController[] hands = GameObject.FindObjectsOfType <GraspController>();
foreach (GraspController hand in hands)
{
hand.requestRelease();
}
}
this.HandPoseController.setControllerMode(PoseController.PoseControllerMode.IDLE);
GraspableObject graspable = this.Target.GetComponent <GraspableObject>();
graspable.ResetVariables();
bool rotate = UnityEngine.Random.value > .5f;
graspable.ResetPositionAndOrientation(rotate ? 180.0f : 0.0f, this.InitialTargetPosition);
if (rotate)
{
if (SpeechTrainingController.Verbose)
{
Debug.Log("rotated target...");
}
// this.Target.transform.Rotate(new Vector3(180.0f, 0.0f, 0.0f));
// this.Target.transform.position = this.InitialTargetPosition;
}
else
{
if (SpeechTrainingController.Verbose)
{
Debug.Log("upright target...");
}
// this.Target.transform.Rotate(new Vector3(0.0f, 0.0f, 0.0f));
// this.Target.transform.position = this.InitialTargetPosition;
}
this.Target.GetComponent <Rigidbody>().isKinematic = false;
// edit JL
this.Target.GetComponent <Rigidbody>().useGravity = true;
this.CurrentTrialState.TrialState = TrainingStates.RESPONSE;
// enable range check
this.InteractionState = SampleTrialController.InteractionStates.NONE;
this.CheckInteractionState = true;
if (SpeechTrainingController.Verbose)
{
Debug.Log("Current Trial State: " + CurrentTrialState.TrialState);
}
break;
case TrainingStates.RESPONSE:
if (SpeechTrainingController.Verbose)
{
Debug.Log("response state...");
}
this.CheckInteractionState = false;
//method that saves the interaction in the TrialData
// no verbal reponse...
if (this.VerbalResponseTime == -1L)
{
this.InteractionState = SampleTrialController.InteractionStates.VERBAL_TIME_OUT;
}
if (this.VerbalResponseTime != -1L && !this.CorrectResponse)
{
this.InteractionState = SampleTrialController.InteractionStates.VERBAL_WRONG_RESPONSE;
}
if (this.InteractionState != SampleTrialController.InteractionStates.IN_BOX)
{
this.cancelTrial();
}
else
{
this.FeedbackDisplay.text = this.positiveFeedbackTemplates[UnityEngine.Random.Range(0, this.positiveFeedbackTemplates.Length - 1)];
this.deactivateTarget();
this.InteractionState = SampleTrialController.InteractionStates.NONE;
// clear monitor
this.messageObtained = false;
this.PoseCheckTimeStamp = -1L;
}
this.CurrentCongruencyCondition = "";
this.CorrectResponse = false;
this.StimulationOnset = -1L;
this.VerbalResponseTime = -1L;
this.LastErrorCode = "none";
this.CurrentTrialState.TrialState = TrainingStates.WAITING;
StartCoroutine(this.FeedbackInterval());
break;
}
}
public void TrialUpdate()
{
if (!GraspTrainingController.IsActive)
{
this.Started = false;
return;
}
if (this.CurrentTrialState.TrialState == TrainingStates.RESPONSE && SampleTrialController.Millis - this.TargetOnsetTime < 1000L)
{
return;
}
if (GraspTrainingController.Verbose)
{
UnityEngine.Debug.Log("timer called, in state = " + CurrentTrialState.TrialState.ToString() + "...");
}
switch (this.CurrentTrialState.TrialState)
{
case TrainingStates.STARTUP:
if (GraspTrainingController.Verbose)
{
UnityEngine.Debug.Log("startup...");
}
this.HandPoseController.resetInitialPoseChecks();
this.HandPoseController.setControllerMode(PoseController.PoseControllerMode.CHECK);
this.FeedbackDisplay.text = "";
if (this.variableMapping)
{
this.OffsetController.DriftFactor = this.master.visualOffsets[UnityEngine.Random.Range(0, this.master.visualOffsets.Length)];
}
else
{
this.OffsetController.DriftFactor = 0.0f;
}
if (GraspTrainingController.Verbose)
{
UnityEngine.Debug.Log("startup done...");
}
break;
case TrainingStates.INIT:
this.CurrentTrialState.TrialState = TrainingStates.FIXATION;
this.FixationObject.transform.position = this.InitialTargetPosition;
this.master.GraspTrainingTrialStart();
if (GraspTrainingController.Verbose)
{
UnityEngine.Debug.Log("dummy fixation interval");
}
StartCoroutine(CoroutineTimer.Start(CurrentTrialState.getSleepInterval() * .001f, this.TrialUpdateDelegate));
break;
case TrainingStates.FIXATION:
this.CurrentTrialState.TrialState = TrainingStates.SOA;
this.FixationObject.transform.position = new Vector3(0, -10, 0);
if (this.variableMapping)
{
this.OffsetController.ApplyDrift = true;
}
else
{
this.OffsetController.ApplyDrift = false;
}
StartCoroutine(CoroutineTimer.Start(CurrentTrialState.getSleepInterval() * .001f, this.TrialUpdateDelegate));
break;
case TrainingStates.SOA:
if (this.Target.GetComponent <GraspableObject>().IsGrabbed())
{
GraspController[] hands = GameObject.FindObjectsOfType <GraspController>();
foreach (GraspController hand in hands)
{
hand.requestRelease();
}
}
this.HandPoseController.setControllerMode(PoseController.PoseControllerMode.IDLE);
GraspableObject graspable = this.Target.GetComponent <GraspableObject>();
graspable.ResetVariables();
if (this.bottleOrientationMode == "upright")
{
graspable.ResetPositionAndOrientation(0.0f, this.InitialTargetPosition);
if (GraspTrainingController.Verbose)
{
Debug.Log("upright target...");
}
// this.Target.transform.Rotate(new Vector3(0.0f, 0.0f, 0.0f));
// this.Target.transform.position = this.InitialTargetPosition;
}
else if (this.bottleOrientationMode == "upsidedown")
{
graspable.ResetPositionAndOrientation(180.0f, this.InitialTargetPosition);
if (GraspTrainingController.Verbose)
{
Debug.Log("rotated target...");
}
// this.Target.transform.Rotate(new Vector3(180.0f, 0.0f, 0.0f));
// this.Target.transform.position = this.InitialTargetPosition;
}
else if (this.bottleOrientationMode == "random")
{
if (UnityEngine.Random.value > .5f)
{
graspable.ResetPositionAndOrientation(180.0f, this.InitialTargetPosition);
if (GraspTrainingController.Verbose)
{
Debug.Log("rotated target...");
}
// this.Target.transform.Rotate(new Vector3(180.0f, 0.0f, 0.0f));
// this.Target.transform.position = this.InitialTargetPosition;
}
else
{
graspable.ResetPositionAndOrientation(0.0f, this.InitialTargetPosition);
if (GraspTrainingController.Verbose)
{
Debug.Log("upright target...");
}
// this.Target.transform.Rotate(new Vector3(0.0f, 0.0f, 0.0f));
// this.Target.transform.position = this.InitialTargetPosition;
}
}
else
{
UnityEngine.Debug.Log("unknown orientation mode: " + this.bottleOrientationMode + "...");
}
this.Target.GetComponent <Rigidbody>().isKinematic = false;
// edit JL
this.Target.GetComponent <Rigidbody>().useGravity = true;
this.CurrentTrialState.TrialState = TrainingStates.RESPONSE;
// enable range check
this.InteractionState = SampleTrialController.InteractionStates.NONE;
this.CheckInteractionState = true;
this.RangeCheck.clearMonitor();
this.RangeCheck.monitorObject(this.Target);
this.TargetOnsetTime = SampleTrialController.Millis;
if (Verbose)
{
Debug.Log("Current Trial State: " + CurrentTrialState.TrialState);
}
break;
case TrainingStates.RESPONSE:
if (GraspTrainingController.Verbose)
{
Debug.Log("response state...");
}
this.CheckInteractionState = false;
this.OffsetController.ApplyDrift = false;
if (this.InteractionState != SampleTrialController.InteractionStates.IN_BOX)
{
this.cancelTrial();
// reset trial state...
//this.CurrentTrialState.TrialState = TrainingStates.STARTUP;
//StartCoroutine(CoroutineTimer.Start(CurrentTrialState.getSleepInterval() * .001f, this.TrialUpdateDelegate));
}
else
{
this.FeedbackDisplay.text = this.positiveFeedbackTemplates[UnityEngine.Random.Range(0, this.positiveFeedbackTemplates.Length - 1)];
this.deactivateTarget();
this.InteractionState = SampleTrialController.InteractionStates.NONE;
// clear monitor
this.RangeCheck.clearMonitor();
this.PoseCheckTimeStamp = -1L;
//this.CurrentTrialState.TrialState = TrainingStates.STARTUP;
//StartCoroutine(CoroutineTimer.Start(CurrentTrialState.getSleepInterval() * .001f, this.TrialUpdateDelegate));
}
this.CurrentTrialState.TrialState = TrainingStates.WAITING;
StartCoroutine(this.FeedbackInterval());
break;
}
}