// public bool go = false;
void Awake()
{
// Get the robot
this.robot = GameObject.FindGameObjectWithTag(TagRobot);
// Get the graspables
this.graspables = GameObject.FindGameObjectsWithTag(TagGraspables).ToList <GameObject>();
if (graspables.Count == 0)
{
throw new Exception("Count of Graspables is zero.");
}
// 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);
// Get the destination candidates
this.destinationCandidates = GameObject.FindGameObjectsWithTag(TagDestinationCandidates).ToList <GameObject>();
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 DestinationCandidates = " + this.destinationCandidates.Count);
this.graspingTarget = this.graspables [UnityEngine.Random.Range(0, this.graspables.Count)];
this.destination = this.destinationCandidates[UnityEngine.Random.Range(0, this.destinationCandidates.Count)];
SIGVerseLogger.Info("Grasping target is " + graspingTarget.name);
SIGVerseLogger.Info("Destination is " + destination.name);
this.graspingTargetRigidbody = this.graspingTarget.GetComponentInChildren <Rigidbody>();
this.avatarLeftHandController = this.GetComponentsInChildren <CleanupAvatarHandController>().Where(item => item.handType == CleanupAvatarHandController.HandType.LeftHand).First();
this.avatarRightHandController = this.GetComponentsInChildren <CleanupAvatarHandController>().Where(item => item.handType == CleanupAvatarHandController.HandType.RightHand).First();
this.avatarHandController = this.avatarLeftHandController; // Set default
this.stepTimer = new StepTimer();
}
// Update is called once per frame
void Update()
{
//if (this.go)
//{
// this.receivedMessageMap[MsgPointIt] = true;
// this.go = false;
//}
if (this.receivedMessageMap[MsgTellMe])
{
StartCoroutine(this.SendMessage(this.taskMessage, 0.0f));
this.receivedMessageMap[MsgTellMe] = false;
}
if (this.receivedMessageMap[MsgPointIt])
{
switch (this.pointingStep)
{
case PointingStep.PointTarget:
{
if (UnityEngine.Random.Range(0, 2) == 0)
{
// Left Hand
this.avatarHandController = this.avatarLeftHandController;
}
else
{
// Right Hand
this.avatarHandController = this.avatarRightHandController;
}
this.avatarHandController.PointTarget(this.graspingTarget);
this.pointingStep++;
break;
}
case PointingStep.WaitForPointingTarget:
{
if (this.avatarHandController.IsWaiting())
{
this.pointingStep++;
}
break;
}
case PointingStep.Stay1:
{
if (this.stepTimer.IsTimePassed((int)this.pointingStep, 3000))
{
this.pointingStep++;
}
break;
}
case PointingStep.SpeechPickItUp:
{
StartCoroutine(this.SendMessage(MsgPickItUp, 0.0f));
this.pointingStep++;
break;
}
case PointingStep.Stay2:
{
if (this.stepTimer.IsTimePassed((int)this.pointingStep, 3000))
{
this.pointingStep++;
}
break;
}
case PointingStep.PointDestination:
{
this.avatarHandController.PointDestination(this.destination);
this.pointingStep++;
break;
}
case PointingStep.WaitForPointingDestination:
{
if (this.avatarHandController.IsWaiting())
{
this.pointingStep++;
}
break;
}
case PointingStep.Stay3:
{
if (this.stepTimer.IsTimePassed((int)this.pointingStep, 3000))
{
this.pointingStep++;
}
break;
}
case PointingStep.SpeechCleanUp:
{
StartCoroutine(this.SendMessage(MsgCleanUp, 0.0f));
this.pointingStep++;
break;
}
case PointingStep.Stay4:
{
if (this.stepTimer.IsTimePassed((int)this.pointingStep, 3000))
{
this.pointingStep++;
}
break;
}
case PointingStep.Return:
{
this.avatarHandController.Return();
this.pointingStep++;
break;
}
case PointingStep.WaitForReturn:
{
if (this.avatarHandController.IsWaiting())
{
this.avatarHandController.Wait();
this.pointingStep = PointingStep.PointTarget;
this.receivedMessageMap[MsgPointIt] = false;
}
break;
}
}
}
}
