add test seq. change robot speed,camera,radar. modified the target posture

Hector_v2/Assets/Prefabs/Test/Test Management.prefab

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Hector_v2/Assets/Scenes/HandleTest.unity

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+      value: 4
+      objectReference: {fileID: 0}
+    - target: {fileID: 8110610413245634521, guid: da82fda99b00d5a43acb267e6f773c88,
+        type: 3}
+      propertyPath: m_Center.y
+      value: 0
       objectReference: {fileID: 0}
     m_RemovedComponents: []
   m_SourcePrefab: {fileID: 100100000, guid: da82fda99b00d5a43acb267e6f773c88, type: 3}

Hector_v2/Assets/Scripts/Menu/InteractionManagement.cs

@@ -1,7 +1,5 @@
 /*
  * Control center, processing interaction, menu display, robot lock etc.
- *
- * Author: Jingyi Jia
  * 
  */
 

Hector_v2/Assets/Scripts/Menu/MenuSelectEffect.cs

@@ -5,19 +5,9 @@ using UnityEngine.UI;
 
 public class MenuSelectEffect : MonoBehaviour
 {
-    public Text MenuTitle;
-   
-    Color32 oldColor = Color.white;
-    Color32 ColorModeSelected = new Color32(255, 225, 64, 217);
+    public GameObject TaskDiscription;
     private void OnEnable() {
-
-        // Change the color and content of the button in MenuGUI
-        if(MenuTitle!=null){
-            oldColor = MenuTitle.color;
-            MenuTitle.color = ColorModeSelected;
-            MenuTitle.fontStyle = FontStyle.Bold;
-            MenuTitle.text = MenuTitle.text + " (Now)";
-        }
+        TaskDiscription.SetActive(true);
     }
 
     // Start is called before the first frame update
@@ -32,13 +22,7 @@ public class MenuSelectEffect : MonoBehaviour
     
     }
 
-    private void OnDisable() {
-        
-        // Recover the color and content of Button in MenuGUI
-        if(MenuTitle!=null){
-            MenuTitle.color = oldColor;
-            MenuTitle.fontStyle = FontStyle.Normal;
-            MenuTitle.text = gameObject.name;
-        }
+    private void OnDisable() {   
+        TaskDiscription.SetActive(false);
     }
 }

Hector_v2/Assets/Scripts/Menu/UIDrag.cs

@@ -8,6 +8,7 @@ public class UIDrag: MonoBehaviour,IPointerDownHandler,IPointerUpHandler
 {   
 
     public GameObject RightHand;
+    public bool autoLockRobot = true;
     Transform parent;
 
     // Update is called once per frame
@@ -26,7 +27,7 @@ public class UIDrag: MonoBehaviour,IPointerDownHandler,IPointerUpHandler
 
     public void OnPointerDown(PointerEventData eventData)
     {   
-        if(!InteractionManagement.Instance.Robot_Locked){
+        if(!InteractionManagement.Instance.Robot_Locked && autoLockRobot){
             InteractionManagement.Instance.LockRobot(true);
         }
         startDrag();

Hector_v2/Assets/Scripts/Mode/Handle.cs

@@ -1,7 +1,6 @@
 /*
- * Handle the Event in Defualt Mode
+ * Handle the Event in Handle Mode
  *
- * Author: Jingyi Jia
  * 
  */
 
@@ -24,7 +23,9 @@ public class Handle : MonoBehaviour,IMode
     SteamVR_Action_Vibration vibration = SteamVR_Input.GetVibrationAction("Haptic");
 
     private void OnEnable() {
-        
+
+        GameObject.Find("Input").GetComponent<VRInput>().SetMode(this.gameObject);
+
         // The player can be raised or lowered (the aerial perspective is enabled)
         Player_Control.upDownEnabled = true;
         
@@ -65,7 +66,7 @@ public class Handle : MonoBehaviour,IMode
         Vector2 touchValue = touchpad.GetAxis(SteamVR_Input_Sources.RightHand);
         SteamVR_Action_Single squezz = SteamVR_Input.GetSingleAction("Squeeze");
         float angle = touchValue.x;
-        float velocity = squezz.GetAxis(SteamVR_Input_Sources.RightHand)*0.3f;
+        float velocity = squezz.GetAxis(SteamVR_Input_Sources.RightHand);
         //vibration.Execute(0f, 0.1f, velocity*50f, velocity, SteamVR_Input_Sources.RightHand);
         signal =  new Vector2(angle,velocity);    
     }
@@ -92,7 +93,7 @@ public class Handle : MonoBehaviour,IMode
         }
     }
 
-    // open or close the modemenu: map, monitor....
+    // open or close the modemenu: monitor
     private void ModeMenuHandler(SteamVR_Action_Boolean fromAction, SteamVR_Input_Sources fromSource)
     {   
         bool active = false;
@@ -103,10 +104,13 @@ public class Handle : MonoBehaviour,IMode
         vibration.Execute(0f, 0.1f, 50f, 1f, SteamVR_Input_Sources.Any);
     }
     private void OnDisable() {
+
+        // close the modemenu and the UILaser effect, which parent was changed during runnning
         foreach(GameObject child in ModeMenu){
             if(child != null)
                 child.SetActive(false);
         }
+        
         // Remove SteamVR Actions Listener
         SteamVR_Actions.default_Menu.RemoveOnStateDownListener(MenuActionHandler,SteamVR_Input_Sources.Any);
         SteamVR_Actions.default_Lock.RemoveOnStateDownListener(Locked_onStateDown,SteamVR_Input_Sources.Any);

Hector_v2/Assets/Scripts/Mode/Lab.cs

@@ -1,7 +1,6 @@
 /*
  * Handle the Event in Lab Mode
  *
- * Author: Jingyi Jia
  * 
  */
 
@@ -29,6 +28,9 @@ public class Lab : MonoBehaviour,IMode
 
     public float velocitySpeed;
     public float angleSpeed;
+    
+    // change the speed, so that the robot can run faster after editing
+    
 
     public Joystick angle_joystick;
     public Joystick velocity_joystick;
@@ -44,7 +46,8 @@ public class Lab : MonoBehaviour,IMode
     bool velocity_joystickAttached = false;
 
     private void OnEnable() {
-        
+        GameObject.Find("Input").GetComponent<VRInput>().SetMode(this.gameObject);
+
         // The player cannot be raised or lowered (the aerial perspective is disabled)
         Player_Control.upDownEnabled = false; 
         
@@ -52,15 +55,15 @@ public class Lab : MonoBehaviour,IMode
         interactionManagement.SetPlayerText( "Control Mode : " + gameObject.name, 7, false);
         interactionManagement.HideController();
 
-        
         robot =  GameObject.FindGameObjectWithTag("robot");
+        
+
         player = Player.instance;
 
         player.transform.position = gameObject.transform.position + new Vector3(0,0,26);
         player.transform.LookAt(gameObject.transform);
-        
 
-        // reset the manu position
+        // reset the menu position
         interactionManagement.SetMenu(false);
         interactionManagement.SetMenu(true);
 
@@ -116,9 +119,9 @@ public class Lab : MonoBehaviour,IMode
     {   velocity = 0;
         angle = 0;
 
-        // the robot will stop/start move forward 
+        // the robot will stop/start move forward automatically
         if(forward){
-            velocity =  velocitySpeed * 0.5f;
+            velocity =  velocitySpeed * 0.5f;    // justify the speed so that it will not run too fast
         }
 
         // change the direction of the robot
@@ -140,7 +143,7 @@ public class Lab : MonoBehaviour,IMode
      
     }
 
-    // Handle Button Click Effect: the robot will stop/start move forward 
+    // Handle Button Click Effect: the robot will stop/start move forward automatically 
     public void goForward(GameObject button){
         forward = !forward;
         if(forward){
@@ -201,6 +204,7 @@ public class Lab : MonoBehaviour,IMode
 
 
     private void OnDisable() {
+
         // Remove SteamVR Actions Listener
         SteamVR_Actions.default_Menu.RemoveOnStateDownListener(MenuActionHandler,SteamVR_Input_Sources.Any);
         player.transform.position = robot.transform.position + new Vector3(-1,0,0);;

Hector_v2/Assets/Scripts/Mode/Remote.cs

@@ -1,7 +1,5 @@
 /*
- * Handle the Event in Defualt Mode
- *
- * Author: Jingyi Jia
+ * Handle the Event in Remote Mode
  * 
  */
 
@@ -19,18 +17,20 @@ public class Remote: MonoBehaviour,IMode
     InteractionManagement interactionManagement;
     public Player_Control Player_Control;
 
+    // the remoteController will be set during running, which depends on the path of Remote GameObject
+    // So be carefull to change the hierarchy of modes
     public RemoteController remoteController;
-
     public Valve.VR.InteractionSystem.TargetLaser targetLaser;
     public GameObject[] ModeMenu;
     public Vector2 signal;
     public Vector2 Signal => signal;
     SteamVR_Action_Vibration vibration = SteamVR_Input.GetVibrationAction("Haptic");
-
     GameObject robot;
     private NavMeshAgent navMeshAgent;
     private void OnEnable() {
         
+        GameObject.Find("Input").GetComponent<VRInput>().SetMode(this.gameObject);
+        
         // The player can be raised or lowered (the aerial perspective is enabled)
         Player_Control.upDownEnabled = true;
         
@@ -42,7 +42,7 @@ public class Remote: MonoBehaviour,IMode
         interactionManagement.SetPlayerText( "Control Mode : " + gameObject.name, 7, false);
         interactionManagement.SetMenu(false);
 
-        // Add  SteamVR Actions Listener
+        // Add SteamVR Actions Listener
         SteamVR_Actions.default_Menu.AddOnStateDownListener(MenuActionHandler,SteamVR_Input_Sources.Any);
         SteamVR_Actions.default_Lock.AddOnStateDownListener(Locked_onStateDown,SteamVR_Input_Sources.Any);
         SteamVR_Actions.default_ModeMenu.AddOnStateDownListener(ModeMenuHandler,SteamVR_Input_Sources.Any);
@@ -70,13 +70,13 @@ public class Remote: MonoBehaviour,IMode
     {   
         signal = Vector2.zero;
 
-        // Auto driving
+        // Auto driving after the destination has been set
         if(targetLaser.autoDrive){
             navMeshAgent.SetDestination(targetLaser.targetPosition);
             
             float distance = Vector3.Distance(targetLaser.targetPosition, robot.transform.position);
 
-            // Already arrive at the target position
+            // Already arrive at the target position => stop auto driving
             if(distance <= 1){
                 stopAutoDrive();
             }
@@ -86,7 +86,7 @@ public class Remote: MonoBehaviour,IMode
         // get control signal from the joystick
         if(remoteController != null){
             if(remoteController.angle != 0 || remoteController.velocity !=0 ){
-                signal =  new Vector2(remoteController.angle,remoteController.velocity * 0.3f);   
+                signal =  new Vector2(remoteController.angle,remoteController.velocity);   
                 if(targetLaser.autoDrive){
                     stopAutoDrive();
                 }
@@ -100,7 +100,6 @@ public class Remote: MonoBehaviour,IMode
         navMeshAgent.SetDestination(robot.transform.position);
         navMeshAgent.ResetPath();
         GameObject.Destroy(targetLaser.TargetFlag);
-        //interactionManagement.SetPlayerText("Stop Auto Driving",5,false);
     }
 
     private void MenuActionHandler(SteamVR_Action_Boolean fromAction, SteamVR_Input_Sources fromSource)
@@ -153,8 +152,6 @@ public class Remote: MonoBehaviour,IMode
         }
 
         stopAutoDrive();
-        // targetLaser.autoDrive = false;
-        // GameObject.Destroy(targetLaser.TargetFlag);
 
     }
 

Hector_v2/Assets/Scripts/Mode/SpeedLinearEditor.cs

@@ -8,8 +8,6 @@ public class SpeedLinearEditor : MonoBehaviour
 {
    
     public float speed;
-
-    public float maxSpeed = 3;
     public Text speedText;
     public  LinearMapping  linearMapping;
     // Start is called before the first frame update
@@ -21,7 +19,7 @@ public class SpeedLinearEditor : MonoBehaviour
     // Update is called once per frame
     void Update()
     {
-        speed = maxSpeed *  linearMapping.value;
+        speed = linearMapping.value;
         speedText.text = (linearMapping.value).ToString();
     }
 }

Hector_v2/Assets/Scripts/Mode/UI_Mode.cs

@@ -1,7 +1,6 @@
 /*
  * Handle the Event in UI Mode
  *
- * Author: Jingyi Jia
  * 
  */
 
@@ -35,13 +34,18 @@ public class UI_Mode: MonoBehaviour,IMode
     GameObject robot;
     Player player;
     private NavMeshAgent navMeshAgent;
+    private float originSpeed;    // origin speed from navMEshAgent;
     private void OnEnable() {
+
+        GameObject.Find("Input").GetComponent<VRInput>().SetMode(this.gameObject);
         
         // The player can be raised or lowered (the aerial perspective is enabled)
         Player_Control.upDownEnabled = true;
 
         robot =  GameObject.FindGameObjectWithTag("robot");
         navMeshAgent = robot.GetComponent<NavMeshAgent>();
+        originSpeed = navMeshAgent.speed;
+
         navMeshAgent.stoppingDistance = 2;
         player = Player.instance;
 
@@ -88,18 +92,23 @@ public class UI_Mode: MonoBehaviour,IMode
         if(!userControl){
             signal = Vector2.zero;
         }
+        
         // Auto driving
         if(follow_me_Toggle.isOn){
             Vector3 targetPosition = player.transform.position;
             targetPosition.y = robot.transform.position.y;
             navMeshAgent.SetDestination(targetPosition);
+            navMeshAgent.speed = originSpeed * velocity_Slider.value;
         }
         else{
-             navMeshAgent.ResetPath();
+            // stop auto driving
+            navMeshAgent.ResetPath();
         }     
         
     }
 
+    // Handle Button Select Effect: Left or Right
+    // angele = -1/1
     public void setAngleStart(float angle){
         if(interactionManagement.Robot_Locked){
             interactionManagement.SetPlayerText("Please unlock the robot");
@@ -111,6 +120,8 @@ public class UI_Mode: MonoBehaviour,IMode
         
     }
 
+    // Handle Button Select Effect: Forward or Backward
+    // velocity = -1/1
     public void setVelocityStart(float velocity){
         if(interactionManagement.Robot_Locked){
             interactionManagement.SetPlayerText("Please unlock the robot");
@@ -155,6 +166,8 @@ public class UI_Mode: MonoBehaviour,IMode
                 child.SetActive(false);
         }
 
+        navMeshAgent.speed = originSpeed;
+
         // Remove SteamVR Actions Listener
         SteamVR_Actions.default_Menu.RemoveOnStateDownListener(MenuActionHandler,SteamVR_Input_Sources.Any);
         SteamVR_Actions.default_ModeMenu.RemoveOnStateDownListener(ModeMenuHandler,SteamVR_Input_Sources.Any);

Hector_v2/Assets/Scripts/Player/VRInput.cs

@@ -8,20 +8,11 @@ using Valve.VR.InteractionSystem;
 // Attached to GameObject Input in the hierachy.
 public class VRInput : MonoBehaviour
 {
-    // public ScrollRect scrollRect;
-    
-    // public Hand leftHand;
-    // public Hand rightHand;
- 
-    // If more functions are added: a possibility to differentiate between a game mode and menu mode.
-    // public GameObject Player;
-
     public GameObject CurrentMode;
-    public InteractionManagement InteractionManagement;
+    
     public bool inMenu => InteractionManagement.Instance.Menu_Opened;
     public bool isLocked => InteractionManagement.Instance.Robot_Locked;
-
-    public Vector2 touchValue;    
+    public Vector2 touchValue; 
     
     private void Awake()
     {   
@@ -44,17 +35,24 @@ public class VRInput : MonoBehaviour
     }
   
 
-    // calculate the velocity and angle according to the mode
+    // update the velocity and angle according to the mode
     public Vector2 getTouchValue()
     {   
-        touchValue = CurrentMode.GetComponent<IMode>().Signal;
-        return CurrentMode.GetComponent<IMode>().Signal;
+        Vector2 signal = Vector2.zero;
+        if(CurrentMode!=null){
+            signal = CurrentMode.GetComponent<IMode>().Signal;
+        }
+        touchValue = signal;
+        return signal;
+            
     }
 
-    // Change the Mode， if not existed, change it to Default Mode
+    // Change the Mode so that it can get its signal
     public void SetMode(GameObject mode){
         if( this.CurrentMode != mode){
-            this.CurrentMode.SetActive(false);
+            if(this.CurrentMode != null){
+                this.CurrentMode.SetActive(false);
+            }
             mode.SetActive(true);
             this.CurrentMode = mode;
         } 

Hector_v2/Assets/Scripts/Test/TestManagement.cs

@@ -4,15 +4,20 @@ using UnityEngine;
 using Valve.VR.InteractionSystem;
 using UnityEngine.SceneManagement;
 using Valve.VR;
-using UnityEngine.UI;
+using System.Text;
+using System.IO;
 
 public class TestManagement : MonoBehaviour
 {
     public static TestManagement Instance { get; private set; }
+    public int TestID = 1;
+    public string csvPath = @"C:\Users\alley\Desktop\Hecto\TestResult\";
+    public int TestMode = 1;
+    public GameObject[] ModeList;
     
     // ------- Test Information-------------
 
-    public float TotalTime = 600;   // default test time
+    public float TotalTime = 300;   // default test time
 
     // robot info
     [Tooltip("Number of collisions detected")]
@@ -39,14 +44,26 @@ public class TestManagement : MonoBehaviour
     
     // --------------
 
-
+    [HideInInspector]
     public GameObject[] targetList;
     TestRobot currentTestRobot;
     SteamVR_LoadLevel loader;
     // Start is called before the first frame update
     void Start()
     {   
+        // synchronization
+        if(Instance!=null){
+            TestID = Instance.TestID;
+            TestMode = Instance.TestMode;
+        }
         Instance = this;
+
+        // Handle the sequence of the mode to test
+        if(SceneManager.GetActiveScene().name == "Simulation"){
+            initModeList();
+            ModeList[TestMode-1].SetActive(true);
+        }
+
         loader = gameObject.GetComponent<SteamVR_LoadLevel>();
         StartCoroutine(Time());
         targetList = GameObject.FindGameObjectsWithTag("target");
@@ -54,6 +71,29 @@ public class TestManagement : MonoBehaviour
         totalTarget = targetList.Length;
     }
 
+
+    // Caculate the sequence of the modes based on Latin Square (size = 4)
+    private void initModeList()
+    {   
+        // if the ID is illegal, the default Sequence will be used
+        // all the date will be saved in 0.csv as a test date
+        bool illegalID = false;
+        if(TestID <=0){
+            TestID = 1;
+            illegalID = true;
+        }
+
+        var modes =  ModeList;
+        ModeList = new GameObject[4];
+    
+        for(int i =0;i<modes.Length;i++){
+            ModeList[i] =  modes[(TestID-1+i)%4];
+        } 
+        if(illegalID){
+            TestID = 0;
+        }
+    }
+
     // Update is called once per frame
     void Update()
     {
@@ -79,14 +119,15 @@ public class TestManagement : MonoBehaviour
         GameObject.Find("Input").GetComponent<VRInput>().CurrentMode.SetActive(false);
         Destroy(Player.instance.gameObject);
 
-        // delete targets and robt
+        // delete targets and robot
         foreach(Transform child in transform){
-             Destroy(child.gameObject);
+            Destroy(child.gameObject);
         }
 
+        // change scene
         loader.levelName = name;
         loader.Trigger();
-        //SceneManager.LoadSceneAsync(name);
+        
     }
 
     IEnumerator Time()
@@ -130,7 +171,53 @@ public class TestManagement : MonoBehaviour
         testinfo += "Remained Unvisible Target: " +  unvisibleTarget + "\n";
         Debug.Log(testinfo);
 
+        writeCSV();
         InteractionManagement.Instance.SetMenu(true);
         InteractionManagement.Instance.SetPlayerText("The test has ended. Please wait.",5,false);
+        
+        // next text
+        TestMode++;
+    }
+
+    private void writeCSV(){
+        
+        string strFilePath = csvPath + TestID +".csv";
+        
+        string strSeperator = ",";
+        string line = "";
+        if(!File.Exists(strFilePath)){
+            line += "participant" + strSeperator;
+            line += "condition" + strSeperator;
+            line += "Remained Time" + strSeperator;
+            line += "Collision" + strSeperator;
+            line += "Drive Distance" + strSeperator;
+            line += "Total driving time" + strSeperator;
+            line += "Adverage speed" + strSeperator;
+            line += "Rescued Target" + strSeperator;
+            line += "Remained Visible Target" + strSeperator;
+            line += "Remained Unvisible Target" + strSeperator;
+            line += "time" + strSeperator;
+            line += "\n";
+
+            // Create and write the csv file
+            File.WriteAllText(strFilePath, line);
+            line = "";
+        }
+
+        line += TestID + strSeperator;
+        line += SceneManager.GetActiveScene().name + strSeperator;
+        line += TotalTime + strSeperator;
+        line += triggerCount + strSeperator;
+        line += totalDriveDistance + strSeperator;
+        line += totalDriveTime + strSeperator;
+        line += averageSpeed + strSeperator;
+        line += rescuedTarget + strSeperator;
+        line += visibleTarget + strSeperator;
+        line += unvisibleTarget + strSeperator;
+        line += System.DateTime.Now.ToString(("yyyy/MM/dd HH:mm"))+ strSeperator;
+        line += "\n";
+
+        // To append line to the csv file
+        File.AppendAllText(strFilePath, line);
     }
 }