public void SpeakGuidanceMessageForPractice(string msg, string displeyType = "All")
{
RosBridge.human_navigation.HumanNaviGuidanceMsg guidanceMsg = new RosBridge.human_navigation.HumanNaviGuidanceMsg();
guidanceMsg.message = msg;
guidanceMsg.display_type = displeyType;
this.tts.OnReceiveROSHumanNaviGuidanceMessage(guidanceMsg);
}
//void OnDestroy()
//{
// this.CloseRosConnections();
//}
// Update is called once per frame
void Update()
{
try
{
if (this.isAllTaskFinished)
{
return;
}
if (this.interruptedReason != string.Empty && this.step != Step.WaitForNextTrial)
{
SIGVerseLogger.Info("Failed '" + this.interruptedReason + "'");
this.SendPanelNotice("Failed\n" + interruptedReason.Replace('_', ' '), 100, PanelNoticeStatus.Red);
this.TimeIsUp();
}
if (OVRInput.GetDown(OVRInput.RawButton.X) && this.isDuringTrial)
{
if (!this.sessionManager.GetSeechRunState())
{
//this.SendRosHumanNaviMessage(MsgRequest, "");
RosBridge.human_navigation.HumanNaviGuidanceMsg guidaneMsg = new RosBridge.human_navigation.HumanNaviGuidanceMsg();
guidaneMsg.message = "Please take a canned juice on the table and put it into the left trash can.";
guidaneMsg.display_type = "All";
this.tts.OnReceiveROSHumanNaviGuidanceMessage(guidaneMsg);
}
}
switch (this.step)
{
case Step.Initialize:
{
if (this.isCompetitionStarted)
{
this.PreProcess();
this.step++;
}
break;
}
case Step.InitializePlayback: // Need to wait for an update to finish instantiating objects to record
{
this.InitializePlayback();
this.step++;
break;
}
case Step.WaitForStart:
{
if (this.stepTimer.IsTimePassed((int)this.step, 3000))
{
if (this.IsPlaybackInitialized() /*&& this.IsConnectedToRos()*/)
{
this.step++;
}
}
break;
}
case Step.TrialStart:
{
this.goToNextTrialPanel.SetActive(false);
SIGVerseLogger.Info("Trial start!");
this.RecordEventLog("Trial_start");
this.scoreManager.TaskStart();
this.SendPanelNotice("Trial start!", 100, PanelNoticeStatus.Green);
base.StartCoroutine(this.ShowNoticeMessagePanelForAvatar("Trial start!", 3.0f));
this.isDuringTrial = true;
this.step++;
break;
}
case Step.WaitForIamReady:
{
//if (this.receivedMessageMap[MsgIamReady])
if (true)
{
this.tts.ResetNotificationDestinations();
this.StartPlaybackRecord();
this.step++;
break;
}
//this.SendMessageAtIntervals(MsgAreYouReady, "", SendingAreYouReadyInterval);
//break;
}
case Step.SendTaskInfo:
{
//this.SendRosTaskInfoMessage(this.taskInfoForRobot);
SIGVerseLogger.Info("Waiting for end of trial");
this.step++;
break;
}
case Step.WaitForEndOfSession:
{
if (!this.isFirstInstructionFinished)
{
RosBridge.human_navigation.HumanNaviGuidanceMsg guidaneMsg = new RosBridge.human_navigation.HumanNaviGuidanceMsg();
guidaneMsg.message = "Please take a canned juice on the table and put it into the left trash can.";
guidaneMsg.display_type = "All";
this.tts.OnReceiveROSHumanNaviGuidanceMessage(guidaneMsg);
this.isFirstInstructionFinished = true;
}
this.CheckHandInteraction(this.LeftHand);
this.CheckHandInteraction(this.rightHand);
break;
}
case Step.WaitForNextTrial:
{
if (this.goNextTrial)
{
SIGVerseLogger.Info("Go to next trial");
this.RecordEventLog("Go_to_next_trial");
//this.SendRosHumanNaviMessage(MsgGoToNextTrial, "");
this.step = Step.Initialize;
}
break;
}
}
}
catch (Exception exception)
{
Debug.LogError(exception);
SIGVerseLogger.Error(exception.Message);
SIGVerseLogger.Error(exception.StackTrace);
this.ApplicationQuitAfter1sec();
}
}
public void ForwardSubRosGuidanceMessage(RosBridge.human_navigation.HumanNaviGuidanceMsg guidaneMsg)
{
this.photonView.RPC("ForwardSubRosGuidanceMessageRPC", RpcTarget.All, guidaneMsg.message, guidaneMsg.display_type, guidaneMsg.source_language, guidaneMsg.target_language);
}
public void SubscribeHumanNaviGuidanceMessageCallback(RosBridge.human_navigation.HumanNaviGuidanceMsg guidaneMsg)
{
SIGVerseLogger.Info("Received guide message : " + guidaneMsg.message + ", display type: " + guidaneMsg.display_type);
this.tts.OnReceiveROSHumanNaviGuidanceMessage(guidaneMsg);
}
