public override void HandleSessionInitialisation()
{
base.HandleSessionInitialisation();
// New file for the performance data logger
performanceDataLogger.CloseLog();
performanceDataLogger.AddNewLogFile(AvatarSystem.AvatarType.ToString(), sessionNumber, ablebodiedPerformanceDataFormat); // Add file
// Clear ball
gridManager.ResetBallSelection();
}
/// <summary>
/// Handles procedures performed when initialising the next iteration.
/// Updates iteration number, session number, resets the task time, and starts a new data log by default.
/// Extend this method by doing your own implementation, with base.HandleSessionInitialisation() being called at the start.
/// </summary>
public override void HandleSessionInitialisation()
{
base.HandleSessionInitialisation();
#region Iteration settings
// Set iterations variables for flow control.
targetNumber = poseListManager.TargetNumber;
iterationsPerSession[sessionNumber - 1] = targetNumber * iterationsPerTarget;
// Create the list of target indexes and shuffle it.
targetOrder.Clear(); //clear the target order
for (int i = 0; i < targetNumber; i++)
{
for (int j = 0; j < iterationsPerTarget; j++)
{
targetOrder.Add(i);
Debug.Log(targetOrder[targetOrder.Count - 1]);
}
}
targetOrder.Shuffle();
// New file for the performance data logger
performanceDataLogger.CloseLog();
performanceDataLogger.AddNewLogFile(AvatarSystem.AvatarType.ToString(), sessionNumber, performanceDataFormat); // Add file
// Display task text
StartCoroutine(DisplayTaskText(targetOrder[0]));
if (debug)
{
foreach (int target in targetOrder)
{
Debug.Log("Pose:" + target);
}
}
#endregion
}
/// <summary>
/// Initializes the ExperimentSystem and its components.
/// Verifies that all components needed for the experiment are available.
/// This must be done in Start.
/// Extend this method by doing your own implementation, with base.InitExperimentSystem() being called at the start.
/// </summary>
public override void InitialiseExperimentSystems()
{
// Set data format
taskDataFormat = ablebodiedDataFormat;
// Lefty sign
/*
* if (SaveSystem.ActiveUser.lefty)
* leftySign = -1.0f;
*/
// Audio
audio = GetComponent <AudioSource>();
audio.clip = testAudioClip;
#region Modify base
// Then run the base initialisation which is needed, with a small modification
//
// Set the experiment name only when debugging. Take the name from the gameobject + Debug
//
if (debug)
{
ExperimentSystem.SetActiveExperimentID(this.gameObject.name + "_Debug");
}
// Make sure flow control is initialised
sessionNumber = 1;
iterationNumber = 1;
//
// Create the default data loggers
//
taskDataLogger = new DataStreamLogger("TaskData/" + AvatarSystem.AvatarType.ToString());
ExperimentSystem.AddExperimentLogger(taskDataLogger);
taskDataLogger.AddNewLogFile(sessionNumber, iterationNumber, taskDataFormat); // Add file
// Send the player to the experiment centre position
TeleportToStartPosition();
#endregion
#region Initialize EMG sensors
//Initialse Delsys EMG sensor
delsysEMG.Init();
delsysEMG.Connect();
delsysEMG.StartAcquisition();
#endregion
#region Initialize world positioning
// Set the subject physiological data for grid
gridManager.ConfigUserData();
gridManager.ConfigGridPositionFactors(gridCloseDistanceFactor, gridMidDistanceFactor, gridFarDistanceFactor, gridHeightFactor);
#endregion
#region Initialize motion sensors
//
// Add arm motion trackers for able-bodied case.
//
// Lower limb motion tracker
GameObject llMotionTrackerGO = GameObject.FindGameObjectWithTag("ForearmTracker");
lowerArmTracker = new VIVETrackerManager(llMotionTrackerGO.transform);
ExperimentSystem.AddSensor(lowerArmTracker);
// Upper limb motion tracker
GameObject ulMotionTrackerGO = AvatarSystem.AddMotionTracker();
upperArmTracker = new VIVETrackerManager(ulMotionTrackerGO.transform);
ExperimentSystem.AddSensor(upperArmTracker);
if (!debug)
{
// Shoulder acromium head tracker
GameObject motionTrackerGO1 = AvatarSystem.AddMotionTracker();
shoulderTracker = new VIVETrackerManager(motionTrackerGO1.transform);
ExperimentSystem.AddSensor(shoulderTracker);
// C7 tracker
GameObject motionTrackerGO2 = AvatarSystem.AddMotionTracker();
c7Tracker = new VIVETrackerManager(motionTrackerGO2.transform);
ExperimentSystem.AddSensor(c7Tracker);
}
//
// Hand tracking sensor
//
GameObject handGO = GameObject.FindGameObjectWithTag("Hand");
handTracker = new VirtualPositionTracker(handGO.transform);
ExperimentSystem.AddSensor(handTracker);
#endregion
}
/// <summary>
/// Initializes the ExperimentSystem and its components.
/// Verifies that all components needed for the experiment are available.
/// This must be done in Start.
/// Extend this method by doing your own implementation, with base.InitExperimentSystem() being called at the start.
/// </summary>
public override void InitialiseExperimentSystems()
{
// Set data format
taskDataFormat = ablebodiedDataFormat;
// Lefty sign
/*
* if (SaveSystem.ActiveUser.lefty)
* leftySign = -1.0f;
*/
// Audio
audio = GetComponent <AudioSource>();
audio.clip = testAudioClip;
#region Modify base
// Then run the base initialisation which is needed, with a small modification
//
// Set the experiment name only when debugging. Take the name from the gameobject + Debug
//
if (debug)
{
ExperimentSystem.SetActiveExperimentID(this.gameObject.name + "_Debug");
}
// Make sure flow control is initialised
sessionNumber = 1;
iterationNumber = 1;
//
// Create the default data loggers
//
taskDataLogger = new DataStreamLogger("TaskData/" + AvatarSystem.AvatarType.ToString());
ExperimentSystem.AddExperimentLogger(taskDataLogger);
taskDataLogger.AddNewLogFile(sessionNumber, iterationNumber, taskDataFormat); // Add file
//
// Create the performance data loggers
//
performanceDataLogger = new DataStreamLogger("PerformanceData");
ExperimentSystem.AddExperimentLogger(performanceDataLogger);
performanceDataLogger.AddNewLogFile(AvatarSystem.AvatarType.ToString(), sessionNumber, performanceDataFormat); // Add file
// Send the player to the experiment centre position
TeleportToStartPosition();
#endregion
#region Initialize EMG sensors
//Initialise Delsys EMG sensor
delsysEMG.Init();
delsysEMG.Connect();
#endregion
#region Initialize motion sensors
//
// Add arm motion trackers for able-bodied case.
//
// Lower limb motion tracker
GameObject llMotionTrackerGO = GameObject.FindGameObjectWithTag("ForearmTracker");
lowerArmTracker = new VIVETrackerManager(llMotionTrackerGO.transform);
ExperimentSystem.AddSensor(lowerArmTracker);
// Upper limb motion tracker
GameObject ulMotionTrackerGO = AvatarSystem.AddMotionTracker();
upperArmTracker = new VIVETrackerManager(ulMotionTrackerGO.transform);
ExperimentSystem.AddSensor(upperArmTracker);
if (!debug)
{
// Shoulder acromium head tracker
GameObject motionTrackerGO1 = AvatarSystem.AddMotionTracker();
shoulderTracker = new VIVETrackerManager(motionTrackerGO1.transform);
ExperimentSystem.AddSensor(shoulderTracker);
// C7 tracker
GameObject motionTrackerGO2 = AvatarSystem.AddMotionTracker();
c7Tracker = new VIVETrackerManager(motionTrackerGO2.transform);
ExperimentSystem.AddSensor(c7Tracker);
}
//
// Hand tracking sensor
//
GameObject handGO = GameObject.FindGameObjectWithTag("Hand");
handTracker = new VirtualPositionTracker(handGO.transform);
ExperimentSystem.AddSensor(handTracker);
#endregion
//
// Target ADL poses
//
poseListManager.AddPose("Rest", restAudioClip);
poseListManager.AddPose("Reach Mug", reachMugAudioClip);
poseListManager.AddPose("Mug to Mouth", mug2MouthAudioClip);
poseListManager.AddPose("Drink with Mug", drinkAudioClip);
poseListManager.AddPose("Reach Key", reachKeyAudioClip);
poseListManager.AddPose("Turn Key", turnKeyAudioClip);
// Start EMG readings
delsysEMG.StartAcquisition();
}
/// <summary>
/// Initializes the ExperimentSystem and its components.
/// Verifies that all components needed for the experiment are available.
/// This must be done in Start.
/// Extend this method by doing your own implementation, with base.InitExperimentSystem() being called at the start.
/// </summary>
public override void InitialiseExperimentSystems()
{
//
// Set the experiment type configuration
//
// Type one if able-bodied subject
if (AvatarSystem.AvatarType == AvatarType.AbleBodied)
{
experimentType = ExperimentType.TypeOne; // Able-bodied experiment type
taskDataFormat = ablebodiedDataFormat;
performanceDataFormat = ablebodiedPerformanceDataFormat;
}
// Type two if prosthetic (Adaptive Synergy)
else if (AvatarSystem.AvatarType == AvatarType.Transhumeral)
{
experimentType = ExperimentType.TypeTwo; // Able-bodied experiment type
taskDataFormat = prostheticDataFormat;
performanceDataFormat = prostheticPerformanceDataFormat;
}
// Then run the base initialisation which is needed, with a small modification
//
// Set the experiment name only when debugging. Take the name from the gameobject + Debug
//
if (debug)
{
ExperimentSystem.SetActiveExperimentID(this.gameObject.name + "_Debug");
}
// Make sure flow control is initialised
sessionNumber = 1;
iterationNumber = 1;
//
// Create the default data loggers
//
taskDataLogger = new DataStreamLogger("TaskData/" + AvatarSystem.AvatarType.ToString());
ExperimentSystem.AddExperimentLogger(taskDataLogger);
taskDataLogger.AddNewLogFile(sessionNumber, iterationNumber, taskDataFormat); // Add file
// Restart UDP threads
foreach (ISensor sensor in AvatarSystem.GetActiveSensors())
{
if (sensor is UDPSensorManager udpSensor)
{
//Debug.Log(wifiSensor.RunThread);
udpSensor.StartSensorReading();
//Debug.Log(wifiSensor.RunThread);
}
}
// Send the player to the experiment centre position
TeleportToStartPosition();
startPosPhoto.SetActive(false);
//
// Create the performance data loggers
//
performanceDataLogger = new DataStreamLogger("PerformanceData");
ExperimentSystem.AddExperimentLogger(performanceDataLogger);
performanceDataLogger.AddNewLogFile(AvatarSystem.AvatarType.ToString(), sessionNumber, performanceDataFormat); // Add file
if (SaveSystem.ActiveUser.lefty)
{
leftySign = -1.0f;
}
//
// Iterations configuration
//
// Set iterations variables for flow control.
targetNumber = gridRows * gridColumns;
for (int i = 0; i < iterationsPerSession.Count; i++)
{
iterationsPerSession[i] = targetNumber * iterationsPerTarget;
}
// Create the list of target indexes and shuffle it.
for (int i = 0; i < targetNumber; i++)
{
for (int j = 0; j < iterationsPerTarget; j++)
{
targetOrder.Add(i);
}
}
targetOrder.Shuffle();
//
// Initialize world positioning
//
// Get user physiological data.
float subjectHeight = SaveSystem.ActiveUser.height;
float subjectArmLength = SaveSystem.ActiveUser.upperArmLength + SaveSystem.ActiveUser.forearmLength + (SaveSystem.ActiveUser.handLength / 2);
// Set the grid distance from subject
gridManager.transform.position = new Vector3((-gridReachMultiplier * subjectArmLength) - 0.1f, gridHeightMultiplier * subjectHeight, 0.0f);
//
// Add arm motion trackers for able-bodied case.
//
if (experimentType == ExperimentType.TypeOne)
{
// Lower limb motion tracker
GameObject llMotionTrackerGO = GameObject.FindGameObjectWithTag("ForearmTracker");
lowerArmTracker = new VIVETrackerManager(llMotionTrackerGO.transform);
ExperimentSystem.AddSensor(lowerArmTracker);
// Upper limb motion tracker
GameObject ulMotionTrackerGO = AvatarSystem.AddMotionTracker();
upperArmTracker = new VIVETrackerManager(ulMotionTrackerGO.transform);
ExperimentSystem.AddSensor(upperArmTracker);
}
else if (experimentType == ExperimentType.TypeTwo)
{
// Get active sensors from avatar system and get the vive tracker being used for the UA
foreach (ISensor sensor in AvatarSystem.GetActiveSensors())
{
if (sensor is VIVETrackerManager)
{
upperArmTracker = (VIVETrackerManager)sensor;
}
}
if (upperArmTracker == null)
{
throw new System.NullReferenceException("The residual limb tracker was not found.");
}
// Set VIVE tracker and Linear synergy as active.
// Get prosthesis
prosthesisManagerGO = GameObject.FindGameObjectWithTag("ProsthesisManager");
elbowManager = prosthesisManagerGO.GetComponent <ConfigurableElbowManager>();
// Set the reference generator to linear synergy.
elbowManager.ChangeSensor("VAL_SENSOR_VIVETRACKER");
elbowManager.ChangeReferenceGenerator("VAL_REFGEN_LINKINSYN");
// Create the personalisation algorithm object
elbowManager.SetSynergy(theta);
float[] ditherFrequency = { Mathf.PI / 4, 2 * Mathf.PI / 4 };
float[] observerGain = { 0.3840f, 0.6067f, -0.2273f, -0.8977f, -1.0302f };
float[][] A = new float[2][];
A[0] = new float[2] {
1.3130f, -0.8546f
};
A[1] = new float[2] {
1.0f, 0.0f
};
float[] B = { 1.0f, 0.0f };
float[] C = { 0.0131f, -0.0131f };
float D = 0.0f;
personaliser = new TransCyberHPIPersonalisation(ditherAmplitude, 0, ditherFrequency, observerGain, 1, optimiserGain, 0.1f, A, B, C, D, theta, 0.1f, 3.0f);
}
if (evaluatorType == EvaluatorType.Compensation)
{
// Performance evaluation objects
evaluator = new UpperBodyCompensationMotionPM(0.5f, 0.5f);
shDataBuffer = new List <Vector3>();
c7DataBuffer = new List <Vector3>();
}
else if (evaluatorType == EvaluatorType.KinematicEnergy)
{
throw new System.NotImplementedException("KE method not yet implemented");
}
// Debug?
if (!debug)
{
// Shoulder acromium head tracker
GameObject motionTrackerGO1 = AvatarSystem.AddMotionTracker();
shoulderTracker = new VIVETrackerManager(motionTrackerGO1.transform);
ExperimentSystem.AddSensor(shoulderTracker);
// C7 tracker
GameObject motionTrackerGO2 = AvatarSystem.AddMotionTracker();
c7Tracker = new VIVETrackerManager(motionTrackerGO2.transform);
ExperimentSystem.AddSensor(c7Tracker);
}
//
// Hand tracking sensor
//
GameObject handGO = GameObject.FindGameObjectWithTag("Hand");
handTracker = new VirtualPositionTracker(handGO.transform);
ExperimentSystem.AddSensor(handTracker);
// Spawn grid
gridManager.SpawnGrid(gridRows, gridColumns, gridSpacing);
}
// Update is called once per frame
void Update()
{
switch (experimentState)
{
/*
*************************************************
* HelloWorld
*************************************************
*/
// Welcome subject to the virtual world.
case ExperimentState.Welcome:
if (WaitFlag)
{
HudManager.ClearText();
experimentState = ExperimentState.Initialising;
}
else
{
HudManager.DisplayText("Welcome!");
}
break;
/*
*************************************************
* InitializingApplication
*************************************************
*/
// Perform initialization functions before starting experiment.
case ExperimentState.Initialising:
//
// Perform experiment initialization procedures
//
// Enable colliders
AvatarSystem.EnableAvatarColliders();
// Initialize arm guide
guideManager.Initialize(startAngleList[angleNumber - 1], endAngleList[angleNumber - 1], movementTimeList[timeNumber - 1]);
guideManager.GoToStart();
//
// Initialize data logs
//
motionLogger.AddNewLogFile(startAngleList[angleNumber - 1] + "_" + endAngleList[angleNumber - 1] + "_" + movementTimeList[timeNumber - 1], iterationNumber, motionDataFormat);
//
// Go to training
//
experimentState = ExperimentState.Training;
break;
/*
*************************************************
* Practice
*************************************************
*/
// Perform initialization functions before starting experiment.
case ExperimentState.Training:
//
// Guide subject through training
//
//
// Go to instructions
//
experimentState = ExperimentState.Instructions;
break;
/*
*************************************************
* GivingInstructions
*************************************************
*/
case ExperimentState.Instructions:
HudManager.DisplayText(movementTimeList[timeNumber - 1] + " sec. movement.", 2.0f);
// Skip instructions when repeating sessions
if (SkipInstructions)
{
//hudManager.DisplayText("Move to guide", 2.0f);
experimentState = ExperimentState.WaitingForStart;
break;
}
//
// Give instructions
//
//
// Go to waiting for start
//
experimentState = ExperimentState.WaitingForStart;
break;
/*
*************************************************
* WaitingForStart
*************************************************
*/
case ExperimentState.WaitingForStart:
// Check if pause requested
UpdatePause();
switch (waitState)
{
// Waiting for subject to grab the object.
case WaitState.Waiting:
if (guideManager.StartGuiding())
{
//StopAllCoroutines();
HudManager.ClearText();
taskTime = 0.0f;
HUDCountDown(3);
experimentState = ExperimentState.PerformingTask;
}
break;
default:
break;
}
break;
/*
*************************************************
* PerformingTask
*************************************************
*/
case ExperimentState.PerformingTask:
// Task performance is handled deterministically in FixedUpdate.
break;
/*
*************************************************
* AnalizingResults
*************************************************
*/
case ExperimentState.AnalizingResults:
HudManager.DisplayText("Rest your arm.", 5.0f);
// Allow 3 seconds after task end to do calculations
SetWaitFlag(5.0f);
//
// Data analysis and calculations
//
//
// Adaptive system update (when available)
//
//
// Data logging and log management
//
motionLogger.CloseLog();
//
// Flow managment
//
// Rest for some time when required
if (IsRestTime())
{
HudManager.ClearText();
HudManager.DisplayText("Rest your arm.", 2.0f);
SetWaitFlag(RestTime);
experimentState = ExperimentState.Resting;
break;
}
else if (IsEndOfExperiment())
{
experimentState = ExperimentState.End;
break;
}
// Check whether the new session condition is met
else if (IsEndOfSession())
{
//
// Update iterations and flow control
//
iterationNumber++;
timeIterations++;
totalIterations++;
// Go to next
experimentState = ExperimentState.InitializingNext;
break;
}
else
{
experimentState = ExperimentState.UpdatingApplication;
}
break;
/*
*************************************************
* UpdatingApplication
*************************************************
*/
case ExperimentState.UpdatingApplication:
if (WaitFlag)
{
//
// Update iterations and flow control
//
iterationNumber++;
timeIterations++;
totalIterations++;
//
// Update experiment object
//
guideManager.GoToStart();
//
// Update log requirements
//
motionLogger.AddNewLogFile(startAngleList[angleNumber - 1] + "_" + endAngleList[angleNumber - 1] + "_" + movementTimeList[timeNumber - 1], iterationNumber, motionDataFormat);
//
// Go to start of next iteration
//
HudManager.DisplayText("Move to guide", 2.0f);
experimentState = ExperimentState.WaitingForStart;
}
break;
/*
*************************************************
* InitializingNext
*************************************************
*/
case ExperimentState.InitializingNext:
if (WaitFlag)
{
//
// Perform session closure procedures
//
//
// Initialize new session variables and flow control
//
iterationNumber = 1;
sessionNumber++;
// Still doing the angle repetitions for the same time
if (timeIterations < timeIterationLimit)
{
angleNumber++;
}
// Done all the angle repetitions for the given time, reset and go to next time
else
{
angleNumber = 1;
timeIterations = 1;
timeNumber++;
}
//
// Update experiment object
//
guideManager.GoToStart();
//
// Initialize data logging
//
experimentState = ExperimentState.Initialising; // Initialize next session
}
break;
/*
*************************************************
* Resting
*************************************************
*/
case ExperimentState.Resting:
//
// Check for session change or end request from experimenter
//
if (UpdateNext())
{
ConfigureNextSession();
break;
}
else if (UpdateEnd())
{
EndExperiment();
break;
}
//
// Restart after flag is set by wait coroutine
//
if (WaitFlag)
{
if (IsEndOfExperiment())
{
experimentState = ExperimentState.End;
break;
}
// Check whether the new session condition is met
else if (IsEndOfSession())
{
//
// Update iterations and flow control
//
iterationNumber++;
timeIterations++;
totalIterations++;
// Go to next
experimentState = ExperimentState.InitializingNext;
break;
}
else
{
HudManager.DisplayText("Get ready!", 3.0f);
SetWaitFlag(3.0f);
experimentState = ExperimentState.UpdatingApplication;
}
break;
}
break;
/*
*************************************************
* Paused
*************************************************
*/
case ExperimentState.Paused:
//
// Check for session change or end request from experimenter
//
UpdatePause();
if (UpdateNext())
{
ConfigureNextSession();
break;
}
else if (UpdateEnd())
{
EndExperiment();
break;
}
break;
/*
*************************************************
* End
*************************************************
*/
case ExperimentState.End:
//
// Update log data and close logs.
//
HudManager.DisplayText("Experiment end, thanks!", 5.0f);
//
// Return to main menu
//
break;
default:
break;
}
//
// Update information displayed on monitor
//
string experimentInfoText = "Experiment info: \n";
experimentInfoText += "Iteration: " + iterationNumber + "/" + iterationsPerAngle + ".\n";
experimentInfoText += "Session: " + sessionNumber + "/" + startAngleList.Count * movementTimeList.Count + ".\n";
InstructionManager.DisplayText(experimentInfoText);
//
// Update information displayed for debugging purposes
//
if (debug)
{
string debugText = "Debug info: \n";
debugText += experimentState.ToString() + ".\n";
if (experimentState == ExperimentState.WaitingForStart)
{
debugText += waitState.ToString() + ".\n";
}
debugText += "Angle number:" + angleNumber + ".\n";
debugText += "Time iterations:" + timeIterations + ".\n";
InstructionManager.DisplayText(debugText + "\n" + experimentInfoText);
}
}