// Send a message representing storybook state to the controller, in a new thread.
// Doesn't need to return Action because it's only used as a timer elapsed handler.
private void sendStorybookState(object sender, System.Timers.ElapsedEventArgs e)
{
Thread t = new Thread(() => {
Dictionary <string, object> publish = new Dictionary <string, object>();
publish.Add("topic", Constants.STORYBOOK_STATE_TOPIC);
publish.Add("op", "publish");
Dictionary <string, object> data = new Dictionary <string, object>();
// Note that this is protected by a lock, so although ROS messages could
// send out of order, the information within them will be consistent.
// And if the sending rate isn't too high, the likelihood of out of order messages
// is low, and inconsequential for the controller anyway.
// TODO: should devise a better scheme to make sure states are sent in order.
// Can also use the sequence numbers provided in the header.
// Or use a lock in this class so that only one state message can be sent at a time.
StorybookState currentStorybookState = this.storybookStateManager.getCurrentState();
data.Add("header", RosbridgeUtilities.GetROSHeader());
data.Add("audio_playing", currentStorybookState.audioPlaying);
// ROS freaks out if it gets a null value, so just fill it in with an empty string
// if there is no provided audio file.
string audioFile = currentStorybookState.audioFile;
if (audioFile == null)
{
audioFile = "";
}
data.Add("audio_file", audioFile);
data.Add("storybook_mode", (int)currentStorybookState.storybookMode);
data.Add("current_story", currentStorybookState.currentStory);
data.Add("num_pages", currentStorybookState.numPages);
data.Add("evaluating_stanza_index", currentStorybookState.evaluatingStanzaIndex);
publish.Add("msg", data);
bool success = this.rosClient.SendMessage(Json.Serialize(publish));
if (!success)
{
Logger.Log("Failed to send StorybookState message: " + Json.Serialize((publish)));
}
});
t.Start();
}
public static void Init()
{
// Set default values for start of interaction.
currentState = new StorybookState {
audioPlaying = false,
audioFile = "",
storybookMode = StorybookMode.NotReading,
currentStory = "",
numPages = 0,
evaluatingSentenceIndex = -1, // Something that's not -1 or higher, but can't use null.
};
rosMessageData = new Dictionary <string, object>();
rosMessageData.Add("audio_playing", currentState.audioPlaying);
rosMessageData.Add("audio_file", currentState.audioFile);
rosMessageData.Add("storybook_mode", (int)currentState.storybookMode);
rosMessageData.Add("current_story", currentState.currentStory);
rosMessageData.Add("num_pages", currentState.numPages);
rosMessageData.Add("evaluating_sentence_index", currentState.evaluatingSentenceIndex);
}
public StorybookStateManager()
{
if (instance == null)
{
instance = this;
}
else
{
throw new Exception("Cannot attempt to create multiple StorybookStateManagers");
}
this.stateLock = new Object();
// Set default values for start of interaction.
this.currentState = new StorybookState {
audioPlaying = false,
audioFile = "",
storybookMode = StorybookMode.NotReading,
currentStory = "",
numPages = 0,
evaluatingStanzaIndex = -1,
};
}
