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); }