public void LoadTHAvatar()
{
// Fade
SteamVR_Fade.Start(Color.black, 0.0f);
// Load
avatarType = AvatarType.Transhumeral;
AvatarSystem.LoadPlayer(UserType.Ablebodied, AvatarType.Transhumeral);
AvatarSystem.LoadAvatar(SaveSystem.ActiveUser, AvatarType.Transhumeral);
// Fade
SteamVR_Fade.Start(Color.black, 0.0f);
// Initialize prosthesis
GameObject prosthesisManagerGO = GameObject.FindGameObjectWithTag("ProsthesisManager");
elbowManager = prosthesisManagerGO.AddComponent <ConfigurableElbowManager>();
elbowManager.InitializeProsthesis(SaveSystem.ActiveUser.upperArmLength, (SaveSystem.ActiveUser.forearmLength + SaveSystem.ActiveUser.handLength / 2.0f), 1.5f);
// Set the reference generator to jacobian-based.
elbowManager.ChangeReferenceGenerator("VAL_REFGEN_LINKINSYN");
StartCoroutine(EnableColliders());
// Initialize UI.
InitializeUI();
// Teleport to the start position
StartCoroutine(TeleportCoroutine());
}
public void LoadTranshumeralAvatar()
{
try
{
AvatarSystem.LoadPlayer(SaveSystem.ActiveUser.type, AvatarType.Transhumeral);
AvatarSystem.LoadAvatar(SaveSystem.ActiveUser, AvatarType.Transhumeral);
//mainCamera.fieldOfView = 60;
KeepPlayerGameObjects();
StartCoroutine(ResetCamera());
StartCoroutine(DisplayInformationAndReturn(2.0f, "Successfully loaded transhumeral avatar."));
// Initialize prosthesis
GameObject prosthesisManagerGO = GameObject.FindGameObjectWithTag("ProsthesisManager");
ConfigurableElbowManager elbowManager = prosthesisManagerGO.AddComponent <ConfigurableElbowManager>();
elbowManager.InitializeProsthesis(SaveSystem.ActiveUser.upperArmLength, (SaveSystem.ActiveUser.forearmLength + (SaveSystem.ActiveUser.handLength / 2.0f)));
// Set the reference generator to jacobian-based.
elbowManager.ChangeReferenceGenerator("VAL_REFGEN_JACOBIANSYN");
}
catch (System.Exception e)
{
StartCoroutine(DisplayInformationAndReturn(10.0f, e.Message));
}
}
public void LoadTHAvatar()
{
SaveSystem.LoadUserData("MD1942");
AvatarSystem.LoadPlayer(UserType.Ablebodied, AvatarType.Transhumeral);
AvatarSystem.LoadAvatar(SaveSystem.ActiveUser, AvatarType.Transhumeral);
// Initialize prosthesis
GameObject prosthesisManagerGO = GameObject.FindGameObjectWithTag("ProsthesisManager");
elbowManager = prosthesisManagerGO.AddComponent <ConfigurableElbowManager>();
elbowManager.InitializeProsthesis(SaveSystem.ActiveUser.upperArmLength, (SaveSystem.ActiveUser.forearmLength + SaveSystem.ActiveUser.handLength / 2.0f), 1.5f);
// Set the reference generator to jacobian-based.
elbowManager.ChangeReferenceGenerator("VAL_REFGEN_LINKINSYN");
//elbowManager.ChangeReferenceGenerator("VAL_REFGEN_JACOBIANSYN");
// Initialize UI.
//InitializeUI();
// Configure the grasp manager
GameObject graspManagerGO = GameObject.FindGameObjectWithTag("GraspManager");
if (graspManagerGO == null)
{
throw new System.Exception("Grasp Manager not found.");
}
GraspManager graspManager = graspManagerGO.GetComponent <GraspManager>();
graspManager.managerType = GraspManager.GraspManagerType.Assisted;
graspManager.managerMode = GraspManager.GraspManagerMode.Restriced;
// set syn
elbowManager.SetSynergy(theta);
}
private void LoadDebugAvatar()
{
// Load avatar
if (avatarType == AvatarType.Transhumeral)
{
AvatarSystem.LoadAvatar(SaveSystem.ActiveUser, AvatarType.Transhumeral);
// Find the residual limb and change the follower
GameObject residualLimbGO = GameObject.FindGameObjectWithTag("ResidualLimbAvatar");
LimbFollower limbFollower = residualLimbGO.GetComponent <LimbFollower>();
Destroy(limbFollower);
AngleFollower angleFollower = residualLimbGO.AddComponent <AngleFollower>();
angleFollower.fixedTransform = fixedProsthesisPosition;
// Initialize prosthesis
GameObject prosthesisManagerGO = GameObject.FindGameObjectWithTag("ProsthesisManager");
ConfigurableElbowManager elbowManager = prosthesisManagerGO.AddComponent <ConfigurableElbowManager>();
elbowManager.InitializeProsthesis(SaveSystem.ActiveUser.upperArmLength, (SaveSystem.ActiveUser.forearmLength + SaveSystem.ActiveUser.handLength / 2.0f));
// Set the reference generator to jacobian-based.
elbowManager.ChangeReferenceGenerator("VAL_REFGEN_JACOBIANSYN");
instructionsText = synergyInstructions;
// Enable & configure EMG
if (emgEnable)
{
// Create and add sensor
//EMGWiFiManager emgSensor = new EMGWiFiManager(ip, port, channelSize);
ThalmicMyobandManager emgSensor = new ThalmicMyobandManager();
//emgSensor.ConfigureLimits(0, 1023, 0);
//emgSensor.ConfigureLimits(1, 1023, 0);
AvatarSystem.AddActiveSensor(emgSensor);
elbowManager.AddSensor(emgSensor);
//emgSensor.StartSensorReading();
// Set active sensor and reference generator to EMG.
elbowManager.ChangeSensor("VAL_SENSOR_SEMG");
elbowManager.ChangeReferenceGenerator("VAL_REFGEN_EMGPROP");
instructionsText = emgInstructions;
}
}
else
{
throw new System.NotImplementedException();
}
}
// Here are all the methods you need to write for your experiment.
#region GameMaster Inherited Methods
// Place debug stuff here, for when you want to test the experiment directly from the world without
// having to load it from the menus.
private void Awake()
{
if (debug)
{
//// Save some test config data
//string configFilePath = Application.dataPath + "/Resources/Experiments/GridReaching2020.json";
//Debug.Log(configFilePath);
//configurator = new GridReachingConfigurator();
//string configuratorAsJson = JsonUtility.ToJson(configurator);
//File.WriteAllText(configFilePath, configuratorAsJson);
//
// Debug able
//
SaveSystem.LoadUserData("TB1995175"); // Load the test/demo user (Mr Demo)
//
// Debug using able-bodied configuration
//
/*
* AvatarSystem.LoadPlayer(SaveSystem.ActiveUser.type, AvatarType.AbleBodied);
* AvatarSystem.LoadAvatar(SaveSystem.ActiveUser, AvatarType.AbleBodied);
*/
//
// Debug prosthetic
//
AvatarSystem.LoadPlayer(UserType.Ablebodied, AvatarType.Transhumeral);
AvatarSystem.LoadAvatar(SaveSystem.ActiveUser, AvatarType.Transhumeral);
// Initialize prosthesis
GameObject prosthesisManagerGO = GameObject.FindGameObjectWithTag("ProsthesisManager");
ConfigurableElbowManager elbowManager = prosthesisManagerGO.AddComponent <ConfigurableElbowManager>();
elbowManager.InitializeProsthesis(SaveSystem.ActiveUser.upperArmLength, (SaveSystem.ActiveUser.forearmLength + SaveSystem.ActiveUser.handLength / 2.0f));
// Set the reference generator to jacobian-based.
//elbowManager.ChangeReferenceGenerator("VAL_REFGEN_JACOBIANSYN");
// Set the reference generator to linear synergy.
elbowManager.ChangeReferenceGenerator("VAL_REFGEN_LINKINSYN");
}
}
// Update is called once per frame
void Update()
{
switch (experimentState)
{
/*
*************************************************
* HelloWorld
*************************************************
*/
// Welcome subject to the virtual world.
case ExperimentState.Welcome:
// Load avatar
if (avatarType == AvatarType.AbleBodied)
{
//AvatarSystem.LoadAvatar(SaveSystem.ActiveUser, AvatarType.AbleBodied);
}
else if (avatarType == AvatarType.Transhumeral)
{
AvatarSystem.LoadAvatar(SaveSystem.ActiveUser, AvatarType.Transhumeral);
// Initialize prosthesis
GameObject prosthesisManagerGO = GameObject.FindGameObjectWithTag("ProsthesisManager");
ConfigurableElbowManager elbowManager = prosthesisManagerGO.AddComponent <ConfigurableElbowManager>();
elbowManager.InitializeProsthesis(SaveSystem.ActiveUser.upperArmLength, (SaveSystem.ActiveUser.forearmLength + SaveSystem.ActiveUser.handLength / 2.0f));
// Set the reference generator to jacobian-based.
elbowManager.ChangeReferenceGenerator("VAL_REFGEN_LINKINSYN");
}
// Teleport to the start position
TeleportToStartPosition();
experimentState = ExperimentState.Initialising;
break;
/*
*************************************************
* InitializingApplication
*************************************************
*/
// Perform initialization functions before starting experiment.
case ExperimentState.Initialising:
//
// Perform experiment initialization procedures
//
//
// Initialize data logs
//
//
// 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:
// Skip instructions when repeating sessions
if (SkipInstructions)
{
HudManager.DisplayText("Welcome...", 2.0f);
// Turn targets clear
experimentState = ExperimentState.WaitingForStart;
break;
}
//
// Give instructions
//
//
// Go to waiting for start
//
HudManager.DisplayText("Welcome...", 2.0f);
// Turn targets clear
experimentState = ExperimentState.WaitingForStart;
break;
/*
*************************************************
* WaitingForStart
*************************************************
*/
case ExperimentState.WaitingForStart:
// Check if pause requested
UpdatePause();
switch (waitState)
{
// Waiting for subject to get to start position.
case WaitState.Waiting:
SetWaitFlag(3.0f);
waitState = WaitState.Countdown;
break;
case WaitState.Countdown:
if (WaitFlag)
{
experimentState = ExperimentState.PerformingTask;
}
break;
default:
break;
}
break;
/*
*************************************************
* PerformingTask
*************************************************
*/
case ExperimentState.PerformingTask:
// Task performance is handled deterministically in FixedUpdate.
if (avatarType == AvatarType.AbleBodied)
{
HudManager.colour = HUDManager.HUDColour.Green;
}
else
{
if (elbowManager.IsEnabled)
{
HudManager.colour = HUDManager.HUDColour.Blue;
}
else
{
HudManager.colour = HUDManager.HUDColour.Red;
}
}
break;
/*
*************************************************
* AnalizingResults
*************************************************
*/
case ExperimentState.AnalizingResults:
// Allow 3 seconds after task end to do calculations
SetWaitFlag(3.0f);
//
// Data analysis and calculations
//
//
// System update
//
//
// Data logging
//
//
// Flow managment
//
// Rest for some time when required
if (IsRestTime())
{
SetWaitFlag(RestTime);
experimentState = ExperimentState.Resting;
}
// Check whether the new session condition is met
else if (IsEndOfSession())
{
experimentState = ExperimentState.InitializingNext;
}
// Check whether the experiment end condition is met
else if (IsEndOfExperiment())
{
experimentState = ExperimentState.End;
}
else
{
experimentState = ExperimentState.UpdatingApplication;
}
break;
/*
*************************************************
* UpdatingApplication
*************************************************
*/
case ExperimentState.UpdatingApplication:
if (WaitFlag)
{
//
// Update iterations and flow control
//
//
// Update log requirements
//
//
//
// Go to start of next iteration
experimentState = ExperimentState.WaitingForStart;
}
break;
/*
*************************************************
* InitializingNext
*************************************************
*/
case ExperimentState.InitializingNext:
//
// Perform session closure procedures
//
//
// Initialize new session variables and flow control
//
iterationNumber = 1;
sessionNumber++;
skipInstructions = true;
//
// Initialize data logging
//
//ExperimentSystem.GetActiveLogger(1).AddNewLogFile(sessionNumber, iterationNumber, "Data format");
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)
{
HudManager.DisplayText("Get ready to restart!", 3.0f);
SetWaitFlag(5.0f);
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.
//
//
// Return to main menu
//
default:
break;
}
//
// Update information displayed on monitor
//
//
// Update information displayed for debugging purposes
//
if (debug)
{
debugText.text = experimentState.ToString() + "\n";
if (experimentState == ExperimentState.WaitingForStart)
{
debugText.text += waitState.ToString() + "\n";
}
}
}