/// <summary>
/// Handler for TickEvent of EventLoop. Will update keyframes of any animation and synchronize it with
/// clients by setting the respective entity attribute
/// </summary>
/// <param name="sender">Sender of the event (EventLoop)</param>
/// <param name="e">TickEvent args</param>
private void HandleEventTick(Object sender, TickEventArgs e)
{
double frameDuration = e.TimeStamp.Subtract(LastTick).TotalMilliseconds;
LastTick = e.TimeStamp;
lock (RunningAnimationsForEntities)
{
foreach (KeyValuePair<Guid, Dictionary<string, KeyframeAnimation>>
animatedEntity in RunningAnimationsForEntities)
{
string animationKeyframes = "";
foreach (KeyValuePair<string, KeyframeAnimation> runningAnimation in animatedEntity.Value)
{
float newKey = PerformTickForEntityAnimation(animatedEntity.Key,
runningAnimation.Value,
frameDuration);
animationKeyframes += runningAnimation.Key + ":" + newKey + ";";
}
Entity entity = World.Instance.FindEntity(animatedEntity.Key);
entity["animation"]["animationKeyframes"].Suggest(animationKeyframes);
}
}
FinalizeFinishedAnimations();
}
/// <summary>
/// Handles a TickFired Evenet of EventLoop. Performs position and orientation updates for all ongoing motions and rotations
/// </summary>
/// <param name="sender">Sender of tick event args (EventLoop)</param>
/// <param name="e">TickEventArgs</param>
private void HandleEventTick(Object sender, TickEventArgs e)
{
lock (ongoingMotion)
{
foreach (Entity entity in ongoingMotion)
{
UpdateMotion(entity);
}
}
lock (ongoingSpin)
{
foreach (Entity entity in ongoingSpin)
UpdateSpin(entity);
}
}
//Stopwatch sw = Stopwatch.StartNew();
private void HandleEventTick(Object sender, TickEventArgs e)
{
//Console.WriteLine(String.Format("Slept for {0}ms.", sw.ElapsedMilliseconds));
//sw.Restart();
entRWL.AcquireReaderLock (-1);
try {
foreach (KeyValuePair<Entity, NaoConnection> ec in entities)
{
var entity = ec.Key;
var connection = ec.Value;
lock (connection)
{
foreach (KeyValuePair<string, float> kv in connection.jointState)
entity["nao_posture"][kv.Key].Suggest(kv.Value);
entity["nao_posture"]["x"].Suggest((float)connection.positionState.x);
entity["nao_posture"]["y"].Suggest((float)connection.positionState.y);
entity["nao_posture"]["z"].Suggest((float)connection.positionState.z);
entity["nao_posture"]["wx"].Suggest((float)connection.positionState.wx);
entity["nao_posture"]["wy"].Suggest((float)connection.positionState.wy);
entity["nao_posture"]["wz"].Suggest((float)connection.positionState.wz);
/*
entity["location"]["position"].Suggest(
new Vector((float)connection.positionState.x, (float)connection.positionState.z, (float)-connection.positionState.y));
Quat zang = FIVES.Math.QuaternionFromAxisAngle(new Vector(0,1,0),
connection.positionState.wz);
Quat xang = FIVES.Math.QuaternionFromAxisAngle(new Vector(1,0,0),
connection.positionState.wx);
Quat yang = FIVES.Math.QuaternionFromAxisAngle(new Vector(0,0,1),
connection.positionState.wy);
Quat res = FIVES.Math.MultiplyQuaternions(xang, FIVES.Math.MultiplyQuaternions(yang,zang));
entity["location"]["orientation"].Suggest(res);
*/
connection.jointState.Clear();
}
}
} finally {
entRWL.ReleaseReaderLock ();
//Console.WriteLine(String.Format("Tick handler took {0}ms", sw.ElapsedMilliseconds));
//sw.Restart();
}
// doUpdate.Set();
}
private void HandleEventTick(Object sender, TickEventArgs e)
{
//Triggered within fixed time
lock (RunningAnimationsForEntities)
{
foreach (KeyValuePair<string, AnimationInfo>
animatedEntity in RunningAnimationsForEntities)
{
loopCounter++;
Entity entity = World.Instance.FindEntity(animatedEntity.Key);
//check if this is paused entity
int pausedFrame = 0;
if(this.isPausedEntity.Equals(entity.Guid.ToString("D")))
{
//we should not send the action string again
//we need to take the paused frame
pausedFrame = this.PausedFrameForEntities[this.isPausedEntity];
}
else
{
//otherwise we send it at the very start
string actionString = loopCounter.ToString() + ":" + animatedEntity.Value.bvhActionString;
entity["BVHAnimation"]["bvhaction"].Suggest(actionString);
//FIXME: we need to wait for answer, but how?
System.Threading.Thread.Sleep(500);
}
int frameNum = 0;
foreach (string frame in animatedEntity.Value.bvhAnimationString)
{
frameNum ++;
//firstly check if this is paused entity
if (pausedFrame > 0)
{
if(frameNum < pausedFrame)
continue;
else
{
//clear the paused information
PausedAnimationsForEntities.Remove(this.isPausedEntity);
this.isPaused = false;
PausedFrameForEntities.Remove(this.isPausedEntity);
this.isPausedEntity = "";
}
}
//Not paused
string sendString = frameNum.ToString() + frame;
//Console.WriteLine(sendString);
entity["BVHAnimation"]["bvhframe"].Suggest(sendString);
//FIXME: replace this sleep of pose-to-pose interpolation
System.Threading.Thread.Sleep(animatedEntity.Value.frameTime);
//if receive the signal of stop, just break
if (this.isStoppedEntity.Equals(entity.Guid.ToString("D")))
{
break;
}
//if receive the signal of pause, remember the frame number and break
if(this.isPausedEntity.Equals(entity.Guid.ToString("D")))
{
this.PausedFrameForEntities[this.isPausedEntity] = frameNum;
break;
}
}
}
}
}
