/// <summary>
/// Update this NaoState with new values retrieved from the Nao. This includes battery charge, robot position,
/// robot rotation, et cetera.
/// </summary>
/// <exception cref="UnavailableConnectionException">NaoState is not connected to a Nao.</exception>
public void Update()
{
try
{
List <float> vector = motion.getRobotPosition(true);
Location = new PointF(vector[0], vector[1]);
Rotation = vector[2];
BatteryPercentageLeft = battery.getBatteryCharge();
Temperature = (float)memory.getData("Device/SubDeviceList/Battery/Temperature/Sensor/Value");
// update idle
Idle = EventQueue.Nao.Current == null;
}
catch (Exception e)
{
Logger.Log(this, "Failed Update(). Unknown exception occurred: " + e.ToString());
}
// Count the time between this update and the next.
Stopwatch.Restart();
}
public List <float> getFacesInfo()
{
ArrayList faces = (ArrayList)mp.getData("FaceDetected");
if (faces.Count >= 2)
{
string timeStamp = faces[0].ToString();
ArrayList faceInfo1 = faces[1] as ArrayList;
ArrayList faceInfo2 = faceInfo1[0] as ArrayList;//ova e toa sto ni treba
ArrayList shapeInfo = faceInfo2[0] as ArrayList;
List <float> faceOutput = new List <float>();
float alpha = (float)shapeInfo[1];
float beta = (float)shapeInfo[2];
float sizeX = (float)shapeInfo[3];
float sizeY = (float)shapeInfo[4];
faceOutput.Add(alpha);
faceOutput.Add(beta);
faceOutput.Add(sizeX);
faceOutput.Add(sizeY);
/*
* Console.WriteLine("Info = {");
* Console.WriteLine(alpha);
* Console.WriteLine(beta);
* Console.WriteLine(sizeX);
* Console.WriteLine(sizeY);
* Console.WriteLine("}");
*/
return(faceOutput);
}
else
{
//Console.WriteLine("No faces have been detected!");
return(null);
}
}
/// <summary>
/// Method that reads the LandmarkDetected memory and extracts the landmarks info into a dictionary
/// </summary>
/// <param name="memProxy"></param>
/// <returns></returns>
private Dictionary <int, ArrayList> TryGetLandMark(MemoryProxy memProxy)
{
Dictionary <int, ArrayList> ret = null;
try
{
// get the LandmarkDetected memory
var landMarkMemory = memProxy.getData("LandmarkDetected") as ArrayList;
if (landMarkMemory != null)
{
var landMarks = LandMarkHelper.Instance.GetLandMarksInfo(landMarkMemory) as ArrayList;
if (landMarks != null)
{
ret = new Dictionary <int, ArrayList>();
foreach (var landMark in landMarks)
{
var landMarkArr = landMark as ArrayList;
if (landMarkArr != null)
{
int?markId = LandMarkHelper.Instance.GetMarkID(landMarkArr) as int?;
if (markId.HasValue)
{
ret.Add(markId.Value, landMarkArr);
}
}
}
}
}
}
catch (Exception ex)
{
Debug.WriteLine("Coult get marks. " + ex.ToString());
}
return(ret);
}
/// <summary>
/// get value of sonar left
/// </summary>
/// <returns></returns>
public float getSonarDataLeft()
{
return((float)memoryProxy.getData("Device/SubDeviceList/US/Left/Sensor/Value"));
}
static void Main(string[] args)
{
bool guessed = false;
// used to determine if the user has guessed the right number
int wordAsInt = -1;
// used to translate recongized word in to an integer value
List<string> words = new List<string>();
// create list of words to sent to Nao bot
// Create a connection to the text to speech engine on the Nao bot
TextToSpeechProxy tts = new TextToSpeechProxy("172.28.78.228", 9559);
// Create a connection to the speech recognition on the Nao bot
SpeechRecognitionProxy speechR = new SpeechRecognitionProxy("172.28.78.228",
9559);
// create connection to robot memory
MemoryProxy m = new MemoryProxy("172.28.78.228", 9559);
// random number generator
Random rnd = new Random();
// generates number between 1‐5
int rndNum = rnd.Next(6);
// check for rndNum being 0
if(rndNum == 0)
{
wordAsInt++;
}
// add words we want recognized to word list
words.Add("one");
words.Add("two");
words.Add("three");
words.Add("four");
words.Add("five");
speechR.setVocabulary(words, false); // send the word list to robot
Console.WriteLine("Guessing game running on NAO");
// loop until number is guessed
while (!guessed)
{
// user instructions
tts.say("I have picked a number between one and five, try to guess it");
System.Threading.Thread.Sleep(1500); // wait 1.5 seconds
speechR.subscribe("Main", 50, 50); // Start speech recognition engine
System.Threading.Thread.Sleep(5000); // wait 5 seconds
speechR.unsubscribe("Main"); // stop speech recognition engine
// get lastwordrecognized from memory
object wordObj = m.getData("LastWordRecognized");
string word = (string)((ArrayList)wordObj)[0];
// convert word to a integer
switch (word)
{
case "one":
wordAsInt = 1;
break;
case "two":
wordAsInt = 2;
break;
case "three":
wordAsInt = 3;
break;
case "four":
wordAsInt = 4;
break;
case "five":
wordAsInt = 5;
break;
default:
wordAsInt = -1;
break;
}
// if else block to determine if user guessed too high, too low, or correctly
if (wordAsInt > rndNum)
{
tts.say("You guessed too high");
}
else if (wordAsInt == rndNum)
{
tts.say("You guessed correctly!");
guessed = true;
}
else if (wordAsInt < rndNum)
{
tts.say("You guessed too low");
}
// debug output
Console.WriteLine("/nNumber guessed was ");
Console.Write(word);
Console.WriteLine("/n Actual number is ");
Console.Write(rndNum);
}
}
/// <summary>
/// Retrieves the marker data from the Nao's memory.
/// </summary>
/// <returns>
/// A list of the form:
/// [TimeStamp, MarkerInformation[N], CameraPoseInNaoSpace, CameraPoseInWorldSpace, CurrentCameraName].
/// </returns>
public ArrayList GetMarkerData()
{
return((ArrayList)memory.getData("LandmarkDetected"));
}