public IEnumerator UpdatePlacementStatus(MonoBehaviour moderator)
{
if (this.destination.tag == TagModerator)
{
this.isPlacementSucceeded = this.IsDeliverySucceeded(moderator.transform.root);
}
else
{
if (this.graspingTarget.transform.root == this.robot.transform.root)
{
this.isPlacementSucceeded = false;
SIGVerseLogger.Info("Target placement failed: HSR has the grasping target.");
}
else
{
PlacementChecker placementChecker = this.destination.GetComponentInChildren <PlacementChecker>();
IEnumerator <bool?> isPlaced = placementChecker.IsPlaced(this.graspingTarget);
yield return(moderator.StartCoroutine(isPlaced));
this.isPlacementSucceeded = (bool)isPlaced.Current;
}
}
}
private void AddPlacementChecker(GameObject destination)
{
// Add Placement checker to triggers
Transform judgeTriggerOn = destination.transform.Find(JudgeTriggerNameOn);
Transform judgeTriggerIn = destination.transform.Find(JudgeTriggerNameIn);
if (judgeTriggerOn == null && judgeTriggerIn == null)
{
throw new Exception("No JudgeTrigger. name=" + destination.name);
}
if (judgeTriggerOn != null && judgeTriggerIn != null)
{
throw new Exception("Too many JudgeTrigger. name=" + destination.name);
}
if (judgeTriggerOn != null)
{
PlacementChecker placementChecker = judgeTriggerOn.gameObject.AddComponent <PlacementChecker>();
placementChecker.Initialize(PlacementChecker.JudgeType.On);
}
if (judgeTriggerIn != null)
{
PlacementChecker placementChecker = judgeTriggerIn.gameObject.AddComponent <PlacementChecker>();
placementChecker.Initialize(PlacementChecker.JudgeType.In);
}
}
private void Start()
{
ufo = GameObject.Find("UFO").transform;
checker = GameObject.Find("PlacementChecker").GetComponent <PlacementChecker>();
offset = transform.position - ufo.position;
original_position = transform.position;
}
private void Start()
{
init_vel = velocity;
checker = GameObject.Find("PlacementChecker").GetComponent <PlacementChecker>();
source = GetComponent <AudioSource>();
// Spawn first block
Instantiate(HandoffNextBlock(GetComponent <BlockQueue>().GetNextBlock()), transform);
}
private void Start()
{
source = GetComponent <AudioSource>();
cam_shake = Camera.main.GetComponent <CameraShake>();
checker = GameObject.Find("PlacementChecker").GetComponent <PlacementChecker>();
if (SceneManager.GetActiveScene().name == "GoldenGate")
{
current_ground_sound = water_sound;
}
else
{
current_ground_sound = ground_sound;
}
}
void Awake()
{
camTransform = GetComponent(typeof(Transform)) as Transform;
checker = GameObject.Find("PlacementChecker").GetComponent <PlacementChecker>();
}
private void Initialize(EnvironmentInfo environmentInfo, HandymanScoreManager scoreManager, AudioSource objectCollisionAudioSource)
{
List <GameObject> objectCollisionDestinations = new List <GameObject>();
objectCollisionDestinations.Add(scoreManager.gameObject);
objectCollisionDestinations.Add(this.playbackRecorder.gameObject);
foreach (GameObject graspable in this.graspables)
{
CollisionTransferer collisionTransferer = graspable.AddComponent <CollisionTransferer>();
collisionTransferer.Initialize(objectCollisionDestinations, Score.GetObjectCollisionVeloticyThreshold(), 0.1f, objectCollisionAudioSource);
}
Dictionary <RelocatableObjectInfo, GameObject> graspablesPositionMap = null; //key:GraspablePositionInfo, value:Graspables
Dictionary <RelocatableObjectInfo, GameObject> destinationsPositionsMap = null; //key:DestinationPositionInfo, value:DestinationCandidate
if (HandymanConfig.Instance.configFileInfo.isGraspableObjectsPositionRandom)
{
this.graspingTarget = this.DecideGraspingTarget();
this.destination = this.DecideDestination();
graspablesPositionMap = this.CreateGraspablesPositionMap();
destinationsPositionsMap = this.CreateDestinationsPositionsMap();
}
else
{
this.DeactivateGraspingCandidatesPositions();
this.graspingTarget = (from graspable in this.graspables where graspable.name == environmentInfo.graspingTargetName select graspable).First();
if (this.graspingTarget == null)
{
throw new Exception("Grasping target not found. name=" + environmentInfo.graspingTargetName);
}
graspablesPositionMap = new Dictionary <RelocatableObjectInfo, GameObject>();
foreach (RelocatableObjectInfo graspablePositionInfo in environmentInfo.graspablesPositions)
{
GameObject graspableObj = (from graspable in this.graspables where graspable.name == graspablePositionInfo.name select graspable).First();
if (graspableObj == null)
{
throw new Exception("Graspable object not found. name=" + graspablePositionInfo.name);
}
graspablesPositionMap.Add(graspablePositionInfo, graspableObj);
}
// Destination object
this.destination = (from destinationCandidate in this.destinationCandidates where destinationCandidate.name == environmentInfo.destinationName select destinationCandidate).First();
if (this.destination == null)
{
throw new Exception("Destination not found. name=" + environmentInfo.destinationName);
}
// Destination candidates position map
destinationsPositionsMap = new Dictionary <RelocatableObjectInfo, GameObject>();
foreach (RelocatableObjectInfo destinationPositionInfo in environmentInfo.destinationsPositions)
{
GameObject destinationObj = (from destinationCandidate in this.destinationCandidates where destinationCandidate.name == destinationPositionInfo.name select destinationCandidate).First();
if (destinationObj == null)
{
throw new Exception("Destination candidate not found. name=" + destinationPositionInfo.name);
}
destinationsPositionsMap.Add(destinationPositionInfo, destinationObj);
}
}
if (this.destination.tag != TagModerator)
{
// Add Placement checker to triggers
Transform judgeTriggerOn = this.destination.transform.Find(JudgeTriggerNameOn);
Transform judgeTriggerIn = this.destination.transform.Find(JudgeTriggerNameIn);
if (judgeTriggerOn == null && judgeTriggerIn == null)
{
throw new Exception("No JudgeTrigger. name=" + this.destination.name);
}
if (judgeTriggerOn != null && judgeTriggerIn != null)
{
throw new Exception("Too many JudgeTrigger. name=" + this.destination.name);
}
if (judgeTriggerOn != null)
{
PlacementChecker placementChecker = judgeTriggerOn.gameObject.AddComponent <PlacementChecker>();
placementChecker.Initialize(PlacementChecker.JudgeType.On);
}
if (judgeTriggerIn != null)
{
PlacementChecker placementChecker = judgeTriggerIn.gameObject.AddComponent <PlacementChecker>();
placementChecker.Initialize(PlacementChecker.JudgeType.In);
}
}
foreach (KeyValuePair <RelocatableObjectInfo, GameObject> pair in graspablesPositionMap)
{
pair.Value.transform.position = pair.Key.position;
pair.Value.transform.eulerAngles = pair.Key.eulerAngles;
// Debug.Log(pair.Key.name + " : " + pair.Value.name);
}
foreach (KeyValuePair <RelocatableObjectInfo, GameObject> pair in destinationsPositionsMap)
{
pair.Value.transform.position = pair.Key.position;
pair.Value.transform.eulerAngles = pair.Key.eulerAngles;
// Debug.Log(pair.Key.name + " : " + pair.Value.name);
}
this.targetRoom = this.GetTargetRoom();
if (HandymanConfig.Instance.configFileInfo.isGraspableObjectsPositionRandom)
{
this.taskMessage = this.CreateTaskMessage();
this.correctedTaskMessage = string.Empty;
this.isEnvironmentNameSent = true;
}
else
{
this.taskMessage = environmentInfo.taskMessage;
this.correctedTaskMessage = environmentInfo.correctedTaskMessage;
this.isEnvironmentNameSent = environmentInfo.isEnvironmentNameSent;
}
if (HandymanConfig.Instance.configFileInfo.isGraspableObjectsPositionRandom)
{
SaveEnvironmentInfo(this.taskMessage, this.correctedTaskMessage, this.environmentName, this.isEnvironmentNameSent, this.graspingTarget.name, this.destination.name, graspablesPositionMap, destinationsPositionsMap);
}
this.rosConnections = SIGVerseUtils.FindObjectsOfInterface <IRosConnection>();
SIGVerseLogger.Info("ROS connection : count=" + this.rosConnections.Length);
// Set up the voice (Using External executable file)
this.speechProcess = new System.Diagnostics.Process();
this.speechProcess.StartInfo.FileName = Application.dataPath + "/" + SpeechExePath;
this.speechProcess.StartInfo.CreateNoWindow = true;
this.speechProcess.StartInfo.WindowStyle = System.Diagnostics.ProcessWindowStyle.Hidden;
this.isSpeechUsed = System.IO.File.Exists(this.speechProcess.StartInfo.FileName);
this.speechInfoQue = new Queue <SpeechInfo>();
SIGVerseLogger.Info("Text-To-Speech: " + Application.dataPath + "/" + SpeechExePath);
this.isPlacementSucceeded = null;
}
private void Awake()
{
instance = this;
}
