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 GetGameObjects(EnvironmentInfo environmentInfo, GameObject avatarMotionPlayback, GameObject worldPlayback)
{
this.robot = GameObject.FindGameObjectWithTag(TagRobot);
this.hsrBaseFootPrint = SIGVerseUtils.FindTransformFromChild(this.robot.transform, HSRCommon.Link.base_footprint.ToString());
this.hsrGraspingDetector = this.robot.GetComponentInChildren <GraspingDetector>();
GameObject moderatorObj = GameObject.FindGameObjectWithTag(TagModerator);
// Get grasping candidates
this.graspingCandidates = this.ExtractGraspingCandidates(environmentInfo);
// List<GameObject> dummyGraspingCandidates = GameObject.FindGameObjectsWithTag(TagDummyGraspingCandidates).ToList<GameObject>();
this.graspables = new List <GameObject>();
this.graspables.AddRange(this.graspingCandidates);
// this.graspables.AddRange(dummyGraspingCandidates);
// Check the name conflict of graspables.
if (this.graspables.Count != (from graspable in this.graspables select graspable.name).Distinct().Count())
{
throw new Exception("There is the name conflict of graspable objects.");
}
SIGVerseLogger.Info("Count of Graspables = " + this.graspables.Count);
this.bedRoomArea = GameObject.Find(this.environmentName + "/RoomArea/" + AreaNameBedRoom);
this.kitchenArea = GameObject.Find(this.environmentName + "/RoomArea/" + AreaNameKitchen);
this.livingArea = GameObject.Find(this.environmentName + "/RoomArea/" + AreaNameLiving);
this.lobbyArea = GameObject.Find(this.environmentName + "/RoomArea/" + AreaNameLobby);
// Get grasping candidates positions
this.graspingCandidatesPositions = GameObject.FindGameObjectsWithTag(TagGraspingCandidatesPosition).ToList <GameObject>();
if (this.graspables.Count > this.graspingCandidatesPositions.Count)
{
throw new Exception("graspables.Count(" + this.graspables.Count + ") > graspingCandidatesPositions.Count(" + this.graspingCandidatesPositions.Count + "). Layout=" + this.environmentName);
}
else
{
SIGVerseLogger.Info("Count of GraspingCandidatesPosition = " + this.graspingCandidatesPositions.Count);
}
this.destinationCandidates = GameObject.FindGameObjectsWithTag(TagDestinationCandidates).ToList <GameObject>();
this.destinationCandidates.Add(moderatorObj); // Treat moderator as a destination candidate
if (this.destinationCandidates.Count == 0)
{
throw new Exception("Count of DestinationCandidates is zero.");
}
// Check the name conflict of destination candidates.
if (this.destinationCandidates.Count != (from destinations in this.destinationCandidates select destinations.name).Distinct().Count())
{
throw new Exception("There is the name conflict of destination candidates objects.");
}
SIGVerseLogger.Info("Count of Destinations = " + this.destinationCandidates.Count);
this.avatarMotionPlayer = avatarMotionPlayback.GetComponent <HandymanAvatarMotionPlayer>();
this.avatarMotionRecorder = avatarMotionPlayback.GetComponent <HandymanAvatarMotionRecorder>();
this.playbackRecorder = worldPlayback.GetComponent <HandymanPlaybackRecorder>();
this.playbackRecorder.SetEnvironmentName(this.environmentName);
}
