/// <summary>
/// This event handler is called when the robot/user sends a start message
/// The parameters can be set in the Skill Runner (or as json) and used in the skill if desired
/// </summary>
/// <param name="parameters"></param>
public async void OnStart(object sender, IDictionary <string, object> parameters)
{
//TODO Put your code here and update the summary above
int task_id = 0;
_timeToTellJokes = true;
try
{
//Get the audio and image lists for use in the skill
_audioList = (await _misty.GetAudioListAsync())?.Data;
_imageList = (await _misty.GetImageListAsync())?.Data;
_misty.Wait(2000);
task_id++;
_misty.PlayAudio("Misty_Hi.wav", 80, null);
_misty.Wait(2000);
_misty.PlayAudio("Misty_I_am_Annie.wav", 80, null);
_misty.Wait(4000);
_misty.ChangeLED(255, 255, 255, null);
_misty.DisplayImage("e_DefaultContent.jpg", 1, null);
_misty.MoveHead(10, 0, 0, 60, AngularUnit.Degrees, null);
task_id++;
_misty.RegisterAudioPlayCompleteEvent(AudioPlayCallback, 0, true, null, null);
// Temporarily disable this voice recognition of the keyphrase wake up words due to SDK software issue.
// It will be used the the fix is done.
// The skill will be initiated by the skill sequencer.
// _misty.StartKeyPhraseRecognition(null);
// _misty.RegisterKeyPhraseRecognizedEvent(10, false, "KeyPhrase", null);
// _misty.KeyPhraseRecognizedEventReceived += ProcessKeyPhraseEvent;
_misty.StartFaceRecognition(null);
RegisterEvents();
task_id++;
_heartbeatTimer = new Timer(HeartbeatCallback, null, 5000, 3000);
_moveHeadTimer = new Timer(MoveHeadCallback, null, 5000, 7000);
_moveArmsTimer = new Timer(MoveArmCallback, null, 5000, 4000);
_ledTimer = new Timer(ChangeLEDCallback, null, 1000, 1000);
}
catch (Exception ex)
{
if (task_id == 0)
{
_misty.SkillLogger.LogVerbose($"TellingJokeSkill : Failed to Load audio and image files");
}
else if (task_id == 1)
{
_misty.SkillLogger.LogVerbose($"TellingJokeSkill : Failed to play audio and display image files");
}
else if (task_id == 2)
{
_misty.SkillLogger.LogVerbose($"TellingJokeSkill : Failed to register events");
}
else
{
_misty.SkillLogger.LogVerbose($"TellingJokeSkill : Failed to setup timers");
}
_misty.SkillLogger.Log($"TellingJokeSkill : OnStart: => Exception", ex);
}
}
/// <summary>
/// Called when the robot wants to start this skill
/// </summary>
/// <param name="parameters"></param>
public void OnStart(object sender, IDictionary <string, object> parameters)
{
try
{
//These calls assume system assets on the robot at the time of writing.
//Update as needed for new or different assets or as an exercise to allow user to pass in asset names :)
_misty.PlayAudio("s_Acceptance.wav", 100, null);
_misty.MoveHead(45, 25, 0, 50, AngularUnit.Degrees, null);
_misty.MoveArms(0, 45, 25, 60, null, AngularUnit.Degrees, null);
_misty.ChangeLED(0, 255, 0, null);
_misty.DisplayImage("e_Disoriented.jpg", 1, null);
//Pause for 4 seconds, if the cancellation token is set during this time, exit the pause and the method
if (!_misty.Wait(4000))
{
return;
}
_misty.PlayAudio("s_Awe2.wav", 100, null);
_misty.MoveHead(75, 15, 30, 50, AngularUnit.Degrees, null);
_misty.MoveArms(-45, 0, 60, 100, null, AngularUnit.Degrees, null);
_misty.ChangeLED(0, 255, 255, null);
_misty.DisplayImage("e_ContentRight.jpg", 1, null);
//Pause for 3.5 seconds, if the cancellation token is set during this time, exit the pause and the method
if (!_misty.Wait(3500))
{
return;
}
_misty.PlayAudio("s_Joy.wav", 100, null);
_misty.MoveHead(75, 25, 10, 50, AngularUnit.Degrees, null);
_misty.MoveArms(-45, 45, 60, 100, null, AngularUnit.Degrees, null);
_misty.ChangeLED(255, 255, 255, null);
_misty.DisplayImage("e_ContentLeft.jpg", 1, null);
//Pause for 2.5 seconds, if the cancellation token is set during this time, exit the pause and the method
if (!_misty.Wait(2500))
{
return;
}
_misty.PlayAudio("s_PhraseHello.wav", 100, null);
_misty.MoveHead(-10, 0, -10, 50, AngularUnit.Degrees, null);
_misty.MoveArms(0, -45, 60, 100, null, AngularUnit.Degrees, null);
_misty.ChangeLED(0, 0, 255, null);
_misty.DisplayImage("e_Joy.jpg", 1, null);
//Tell the robot the skill has completed early
_misty.SkillCompleted();
}
catch (Exception ex)
{
_misty.SkillLogger.Log($"HelloWorldSkill : OnStart: => Exception", ex);
}
}
public async Task MoveHeadAsync(double pitchDegrees, double rollDegrees, double yawDegrees)
{
_misty.RegisterActuatorEvent(ActuatorEventCallback, 0, true, null, "SkillHelperActuatorEventCallback", OnResponse);
// We move head to non-final position first so that we can verify change in position.
double firstPitchDegrees = pitchDegrees + 10;
if (pitchDegrees > 0)
{
firstPitchDegrees = pitchDegrees - 10;
}
_misty.MoveHead(firstPitchDegrees, rollDegrees, yawDegrees, 70, MistyRobotics.Common.Types.AngularUnit.Degrees, OnResponse);
await Task.Delay(3000);
_headPosition = new HeadPosition();
_headPositionSemaphore = new SemaphoreSlim(0);
await _headPositionSemaphore.WaitAsync(5000);
double initPitch = _headPosition.Pitch.HasValue ? _headPosition.Pitch.Value : 100;
LogMessage($"Head position after pre-move: {_headPosition.Pitch:f2}, {_headPosition.Roll:f2}, {_headPosition.Yaw:f2}.");
// Now move head to final position.
_headPosition = new HeadPosition();
int retries = 0;
while ((!_headPosition.Pitch.HasValue || (_headPosition.Pitch.HasValue && initPitch != 100 && Math.Abs(_headPosition.Pitch.Value - initPitch) < 2)) && retries++ < 3)
{
_misty.MoveHead(pitchDegrees, rollDegrees, yawDegrees, 70, MistyRobotics.Common.Types.AngularUnit.Degrees, OnResponse);
await Task.Delay(5000);
if (_abort)
{
break;
}
_headPositionSemaphore = new SemaphoreSlim(0);
await _headPositionSemaphore.WaitAsync(5000);
LogMessage($"Head position after move: {_headPosition.Pitch:f2}, {_headPosition.Roll:f2}, {_headPosition.Yaw:f2}.");
}
_misty.UnregisterEvent("SkillHelperActuatorEventCallback", OnResponse);
}
/// <summary>
/// This event handler is called when the robot/user sends a start message
/// The parameters can be set in the Skill Runner (or as json) and used in the skill if desired
/// </summary>
/// <param name="parameters"></param>
public void OnStart(object sender, IDictionary <string, object> parameters)
{
try
{
_misty.SendDebugMessage("MistyMiner skill started", null);
_misty.MoveHead(20, 0, 0, 0, AngularUnit.Position, null);
//_takeImageTimer = new Timer(CheckForOreCallback, null, 0, 5000);
_misty.RegisterCapTouchEvent(CheckForOreCallback, 1000, true, null, null, null);
_misty.RegisterIMUEvent(setYaw, 5, true, null, null, null);
List <ActuatorPositionValidation> HeadPositionValidation = new List <ActuatorPositionValidation>();
HeadPositionValidation.Add(new ActuatorPositionValidation {
Name = ActuatorPositionFilter.SensorName, Comparison = ComparisonOperator.Equal, ComparisonValue = ActuatorPosition.HeadPitch
});
_misty.RegisterActuatorEvent(setHeadPitch, 10, true, HeadPositionValidation, null, null);
List <ActuatorPositionValidation> ArmPositionValidation = new List <ActuatorPositionValidation>();
ArmPositionValidation.Add(new ActuatorPositionValidation {
Name = ActuatorPositionFilter.SensorName, Comparison = ComparisonOperator.Equal, ComparisonValue = ActuatorPosition.RightArm
});
_misty.RegisterActuatorEvent(setArmPitch, 100, true, ArmPositionValidation, null, null);
_misty.RegisterTimeOfFlightEvent(setTimeOfFlight, 0, true, null, null, null);
//Clean up any lingering runs
yaw.YawReached -= HandleYawReached;
yaw.YawReached -= HandleReturnYawReached;
yaw.YawReached -= FinalYaw;
tof.DistanceReached -= HandleOreReached;
tof.DistanceReached -= HandleReturnReached;
arm.ArmPosReached -= ArmDown;
arm.ArmPosReached -= ArmUp;
}
catch (Exception ex)
{
_misty.SkillLogger.Log($"MistyMiner : OnStart: => Exception", ex);
_misty.SendDebugMessage($"MistyMiner : OnStart: => Exception" + ex, null);
}
}
/// <summary>
/// Move head with retries if pitch isn't where we want it to be.
/// </summary>
public async Task MoveHeadAsync(double pitchDegrees, double rollDegrees, double yawDegrees)
{
_misty.RegisterActuatorEvent(ActuatorEventCallback, 0, true, null, "SkillHelperActuatorEventCallback", OnResponse);
LogMessage($"Move head: {pitchDegrees:f0}, {rollDegrees:f0}, {yawDegrees:f0}.");
_headPosition = new HeadPosition();
int retries = 0;
while ((!_headPosition.Pitch.HasValue || Math.Abs(_headPosition.Pitch.Value - pitchDegrees) > 3) && retries++ < 3)
{
_misty.MoveHead(pitchDegrees, rollDegrees, yawDegrees, 70, MistyRobotics.Common.Types.AngularUnit.Degrees, OnResponse);
await Task.Delay(3000); // totally arbitrary wait
if (_abort)
{
break;
}
}
LogMessage($"Head position after move: {_headPosition.Pitch:f0}, {_headPosition.Roll:f0}, {_headPosition.Yaw:f0}.");
_misty.UnregisterEvent("SkillHelperActuatorEventCallback", OnResponse);
}
private void MoveHeadCallback(object info)
{
_misty.MoveHead(_randomGenerator.Next(-30, 15), _randomGenerator.Next(-30, 30), _randomGenerator.Next(-70, 70), _randomGenerator.Next(10, 30), AngularUnit.Degrees, null);
}
private void ProcessQueryResult(object sender, string stringResult)
{
JObject dynamicResponse = JObject.Parse(stringResult);
string color = ((string)dynamicResponse["queryResult"]?["parameters"]?["Color"])?.ToLower();
string position = ((string)dynamicResponse["queryResult"]?["parameters"]?["Direction"])?.ToLower();
string outputAudioString = (string)dynamicResponse["outputAudio"];
byte[] outputAudio = Convert.FromBase64String(outputAudioString);
try
{
JsonConverter[] converters = new JsonConverter[2] {
new ProtoByteStringConverter(), new OutputAudioEncodingConverter()
};
DetectIntentResponse response = JsonConvert.DeserializeObject <DetectIntentResponse>(stringResult, converters);
string intent = response?.QueryResult?.Intent?.DisplayName;
string defaultResponse = response?.QueryResult?.FulfillmentText;
switch (intent)
{
case "ChangeLED":
if (color != null)
{
Color argbColor = Color.FromName(color);
_misty.ChangeLED(argbColor.R, argbColor.G, argbColor.B, null);
}
break;
case "Joke":
_misty.PlayAudio(defaultResponse, 30, null);
break;
case "Move your arms":
if (position == "up")
{
_misty.MoveArms(-90, -90, 50, 50, null, AngularUnit.Degrees, null);
}
if (position == "down")
{
_misty.MoveArms(90, 90, 50, 50, null, AngularUnit.Degrees, null);
}
_misty.Halt(null, null);
break;
case "MoveHeadPosition":
if (position == "up")
{
_misty.MoveHead(-100, 0, 0, 50, AngularUnit.Degrees, null);
}
if (position == "down")
{
_misty.MoveHead(100, 0, 0, 50, AngularUnit.Degrees, null);
}
if (position == "right")
{
_misty.MoveHead(0, 0, -100, 50, AngularUnit.Degrees, null);
}
if (position == "left")
{
_misty.MoveHead(0, 0, 100, 50, AngularUnit.Degrees, null);
}
break;
default:
_misty.SaveAudio("tts.wav", outputAudio, true, true, null);
break;
}
}
catch (Exception ex)
{
}
}
public void MoveHeadCallback(object timerData)
{
_misty.MoveHead(_randomGenerator.Next(MinimumPitchDegreesInclusive, MaximumPitchDegreesExclusive), _randomGenerator.Next(MinimumRollDegreesInclusive, MaximumRollDegreesExclusive), _randomGenerator.Next(MinimumYawDegreesInclusive, MaximumYawDegreesExclusive), _randomGenerator.Next(MinimumHeadSpeedInclusive, MaximumHeadSpeedExclusive), AngularUnit.Degrees, null);
}