public void OnStart(object sender, IDictionary <string, object> parameters)
{
_misty.TransitionLED(255, 140, 0, 0, 0, 255, LEDTransition.Breathe, 1000, null);
_misty.Wait(3000);
_misty.ChangeLED(0, 0, 255, null);
//Register Bump Sensors with a callback
_misty.RegisterBumpSensorEvent(BumpCallback, 0, true, null, null, null);
//Register Cap Touch with a callback
_misty.RegisterCapTouchEvent(CapTouchCallback, 0, true, null, null, null);
}
/// <summary>
/// Register the desired startup events, more may be registered separately as needed
/// </summary>
private void RegisterEvents()
{
//Bumps
_misty.RegisterBumpSensorEvent(BumpCallback, 0, true, null, null, null);
//Cap touch
_misty.RegisterCapTouchEvent(CapTouchCallback, 0, true, null, null, null);
//TOF
List <TimeOfFlightValidation> tofFrontRightValidations = new List <TimeOfFlightValidation>();
tofFrontRightValidations.Add(new TimeOfFlightValidation {
Name = TimeOfFlightFilter.DistanceInMeters, Comparison = ComparisonOperator.LessThanOrEqual, ComparisonValue = 0.3
});
tofFrontRightValidations.Add(new TimeOfFlightValidation {
Name = TimeOfFlightFilter.SensorName, Comparison = ComparisonOperator.Equal, ComparisonValue = TimeOfFlightPosition.FrontRight
});
_misty.RegisterTimeOfFlightEvent(TOFRangeCallback, 300, true, tofFrontRightValidations, null, null);
List <TimeOfFlightValidation> tofFrontLeftValidations = new List <TimeOfFlightValidation>();
tofFrontLeftValidations.Add(new TimeOfFlightValidation {
Name = TimeOfFlightFilter.DistanceInMeters, Comparison = ComparisonOperator.LessThanOrEqual, ComparisonValue = 0.3
});
tofFrontLeftValidations.Add(new TimeOfFlightValidation {
Name = TimeOfFlightFilter.SensorName, Comparison = ComparisonOperator.Equal, ComparisonValue = TimeOfFlightPosition.FrontLeft
});
_misty.RegisterTimeOfFlightEvent(TOFRangeCallback, 300, true, tofFrontLeftValidations, null, null);
List <TimeOfFlightValidation> tofBackValidations = new List <TimeOfFlightValidation>();
tofBackValidations.Add(new TimeOfFlightValidation {
Name = TimeOfFlightFilter.DistanceInMeters, Comparison = ComparisonOperator.LessThanOrEqual, ComparisonValue = 0.3
});
tofBackValidations.Add(new TimeOfFlightValidation {
Name = TimeOfFlightFilter.SensorName, Comparison = ComparisonOperator.Equal, ComparisonValue = TimeOfFlightPosition.Back
});
_misty.RegisterTimeOfFlightEvent(TOFRangeCallback, 300, true, tofBackValidations, null, null);
List <TimeOfFlightValidation> tofFrontCenterValidations = new List <TimeOfFlightValidation>();
tofFrontCenterValidations.Add(new TimeOfFlightValidation {
Name = TimeOfFlightFilter.DistanceInMeters, Comparison = ComparisonOperator.LessThanOrEqual, ComparisonValue = 0.3
});
tofFrontCenterValidations.Add(new TimeOfFlightValidation {
Name = TimeOfFlightFilter.SensorName, Comparison = ComparisonOperator.Equal, ComparisonValue = TimeOfFlightPosition.FrontCenter
});
_misty.RegisterTimeOfFlightEvent(TOFRangeCallback, 300, true, tofFrontCenterValidations, null, null);
}
/// <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)
{
_misty.ChangeLED(255, 255, 0, null);
OnQueryResultReceived += ProcessQueryResult;
_client = new HttpClient();
_misty.RegisterBumpSensorEvent(onBumped, 20, true, null, "bumped", null);
_misty.RegisterCapTouchEvent(onTouched, 20, true, null, "toched", null);
try
{
_credential = getAuthToken()?.Result;
}
catch (Exception ex)
{
_misty.SkillLogger.Log("Unable to authenticate dialogflow client.", ex);
}
}
/// <summary>
/// Register the desired startup events, more may be registered separately as needed
/// </summary>
private void RegisterEvents()
{
//Voice Rec
_misty.RegisterKeyPhraseRecognizedEvent(KeyPhraseRecognizedCallback, 0, true, null, null);
//Face rec
_misty.RegisterFaceRecognitionEvent(FaceRecCallback, 0, false, null, null, null);
//Bumps
_misty.RegisterBumpSensorEvent(BumpCallback, 0, true, null, null, null);
//Cap touch
_misty.RegisterCapTouchEvent(CapTouchCallback, 0, true, null, null, null);
//TOF
List <TimeOfFlightValidation> tofFrontRightValidations = new List <TimeOfFlightValidation>();
tofFrontRightValidations.Add(new TimeOfFlightValidation {
Name = TimeOfFlightFilter.DistanceInMeters, Comparison = ComparisonOperator.LessThanOrEqual, ComparisonValue = 0.15
});
tofFrontRightValidations.Add(new TimeOfFlightValidation {
Name = TimeOfFlightFilter.SensorName, Comparison = ComparisonOperator.Equal, ComparisonValue = TimeOfFlightPosition.FrontRight
});
_misty.RegisterTimeOfFlightEvent(TOFRangeCallback, 50, true, tofFrontRightValidations, null, null);
List <TimeOfFlightValidation> tofFrontLeftValidations = new List <TimeOfFlightValidation>();
tofFrontLeftValidations.Add(new TimeOfFlightValidation {
Name = TimeOfFlightFilter.DistanceInMeters, Comparison = ComparisonOperator.LessThanOrEqual, ComparisonValue = 0.15
});
tofFrontLeftValidations.Add(new TimeOfFlightValidation {
Name = TimeOfFlightFilter.SensorName, Comparison = ComparisonOperator.Equal, ComparisonValue = TimeOfFlightPosition.FrontLeft
});
_misty.RegisterTimeOfFlightEvent(TOFRangeCallback, 50, true, tofFrontLeftValidations, null, null);
List <TimeOfFlightValidation> tofBackValidations = new List <TimeOfFlightValidation>();
tofBackValidations.Add(new TimeOfFlightValidation {
Name = TimeOfFlightFilter.DistanceInMeters, Comparison = ComparisonOperator.LessThanOrEqual, ComparisonValue = 0.15
});
tofBackValidations.Add(new TimeOfFlightValidation {
Name = TimeOfFlightFilter.SensorName, Comparison = ComparisonOperator.Equal, ComparisonValue = TimeOfFlightPosition.Back
});
_misty.RegisterTimeOfFlightEvent(TOFRangeCallback, 50, true, tofBackValidations, null, null);
}
/// <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>
/// Get the assets and startup some timers to do random movements and other things...
/// </summary>
/// <param name="parameters"></param>
public async void OnStart(object sender, IDictionary <string, object> parameters)
{
try
{
var deviceInfo = await _misty.GetDeviceInformationAsync();
if (!_misty.Wait(0))
{
return;
}
//Get the audio and image lists for use in the skill
_audioList = (await _misty.GetAudioListAsync())?.Data;
if (!_misty.Wait(0))
{
return;
}
_imageList = (await _misty.GetImageListAsync())?.Data;
if (!_misty.Wait(0))
{
return;
}
if (_audioList != null && _audioList.Count > 0)
{
AudioDetails randomAudio = _audioList[_randomGenerator.Next(0, _audioList.Count - 1)];
_misty.PlayAudio(randomAudio.Name, 100, null);
}
if (_imageList != null && _imageList.Count > 0)
{
ImageDetails randomImage = _imageList[_randomGenerator.Next(0, _imageList.Count - 1)];
_misty.DisplayImage(randomImage.Name, 1, null);
}
if (!_misty.Wait(2000))
{
return;
}
_misty.ChangeLED(255, 255, 255, null);
//Register a number of events
_misty.RegisterAudioPlayCompleteEvent(AudioPlayCallback, 0, true, null, null);
_misty.RegisterCapTouchEvent(CapTouchCallback, 0, true, null, null, null);
_misty.RegisterKeyPhraseRecognizedEvent(KeyPhraseRecognizedCallback, 250, true, null, null);
_misty.StartKeyPhraseRecognition(null);
_misty.StartFaceRecognition(null);
//Create an event with a specific name so we can unregister it when needed using that name
_misty.RegisterBumpSensorEvent(BumpCallback, 0, true, null, "MyBumpSensorName", null);
//Register face rec with keepAlive = false, it will need to be reregistered after triggering if the user wants it to run again
_misty.RegisterFaceRecognitionEvent(FaceRecCallback, 0, false, null, null, null);
//Play audio indicator that the event registration state has changed
if (_audioList != null && _audioList.Count > 0)
{
AudioDetails randomAudio = _audioList[_randomGenerator.Next(0, _audioList.Count - 1)];
_misty.PlayAudio(randomAudio.Name, 100, null);
await Task.Delay(1000);
_misty.PlayAudio(randomAudio.Name, 100, null);
}
if (!_misty.Wait(30000))
{
return;
}
//Unregister the bump sensor
_misty.UnregisterEvent("MyBumpSensorName", UnregisterCallback);
//Play audio indicator that the event registration state has changed
if (_audioList != null && _audioList.Count > 0)
{
AudioDetails randomAudio = _audioList[_randomGenerator.Next(0, _audioList.Count - 1)];
_misty.PlayAudio(randomAudio.Name, 100, null);
await Task.Delay(1000);
_misty.PlayAudio(randomAudio.Name, 100, null);
}
if (!_misty.Wait(20000))
{
return;
}
//Unregister ALL events
_misty.UnregisterAllEvents(UnregisterCallback);
//Play audio indicator that the event registration state has changed
if (_audioList != null && _audioList.Count > 0)
{
AudioDetails randomAudio = _audioList[_randomGenerator.Next(0, _audioList.Count - 1)];
_misty.PlayAudio(randomAudio.Name, 100, null);
await Task.Delay(1000);
_misty.PlayAudio(randomAudio.Name, 100, null);
}
if (!_misty.Wait(20000))
{
return;
}
//Play audio indicator that the event registration state has changed
if (_audioList != null && _audioList.Count > 0)
{
AudioDetails randomAudio = _audioList[_randomGenerator.Next(0, _audioList.Count - 1)];
_misty.PlayAudio(randomAudio.Name, 100, null);
await Task.Delay(1000);
_misty.PlayAudio(randomAudio.Name, 100, null);
}
//Re-register events
_misty.RegisterAudioPlayCompleteEvent(AudioPlayCallback, 0, true, null, null);
_misty.RegisterFaceRecognitionEvent(FaceRecCallback, 0, false, null, null, null);
_misty.RegisterCapTouchEvent(CapTouchCallback, 0, true, null, null, null);
_misty.RegisterKeyPhraseRecognizedEvent(KeyPhraseRecognizedCallback, 0, true, null, null);
//You can also register events without callbacks, it requires a user to subscribe to that event as follows...
//Note that this re-registers bump events to play a sound on release, not contact as they were previously handled
_misty.RegisterBumpSensorEvent(0, true, null, null, null);
_misty.BumpSensorEventReceived += ProcessBumpEvent;
//Will continue to process events until timeout of cancel
}
catch (Exception ex)
{
_misty.SkillLogger.Log($"InteractiveMistySkill : OnStart: => Exception", ex);
}
}
