private void VoiceCommandTrackHumansHandler(SpeechRecognizerDictionaryItem grammarItem, double angle)
{
Talker.Say(10, "Game On!");
robotStrategyTypePrevious = RobotStrategyType.None;
_mapperVicinity.robotState.robotStrategyType = RobotStrategyType.PersonFollowing;
}
private void VoiceCommandStopHandler(SpeechRecognizerDictionaryItem grammarItem, double angle)
{
_mapperVicinity.robotState.robotStrategyType = RobotStrategyType.None; // active Stop implied
StopMoving();
Talker.Say(10, "Stopped!");
}
private void VoiceCommandBackUpHandler(SpeechRecognizerDictionaryItem grammarItem, double angle)
{
robotStrategyTypePrevious = _mapperVicinity.robotState.robotStrategyType;
_mapperVicinity.robotState.robotStrategyType = RobotStrategyType.InTransition;
SafePosture();
Translate(-300, MaximumBackwardVelocityMmSec, true); // use the shoot-and-forget version.
}
private void VoiceCommandTurnRightHandler(SpeechRecognizerDictionaryItem grammarItem, double angle)
{
robotStrategyTypePrevious = _mapperVicinity.robotState.robotStrategyType;
_mapperVicinity.robotState.robotStrategyType = RobotStrategyType.InTransition;
SafePosture();
int rotateAngle = 30;
TurnByAngle(rotateAngle, ModerateTurnPower, true); // use the shoot-and-forget version.
}
/// <summary>
/// Speech recognized handler
/// </summary>
/// <param name="recognized"></param>
private void SpeechRecognizedHandler(sr.SpeechRecognized recognized)
{
TimeSpan sinceTalk = DateTime.Now - Talker.lastSpoken;
if (sinceTalk.TotalSeconds < SpeechRecognizerTalkerBlackoutSec)
{
Tracer.Trace("SpeechRecognizedHandler in blackout at " + sinceTalk.TotalSeconds + " sec");
return;
}
int angle = Direction.to180fromRad(-recognized.Body.Angle);
string commandText = recognized.Body.Text;
string commandSemantics = recognized.Body.Semantics.ValueString;
double confidence = Math.Round(recognized.Body.Confidence, 3); // 0 to 1, usually around 0.97 for successfully recognized commands
//Tracer.Trace("**************************************** SpeechRecognizedHandler **************************************** ");
//Tracer.Trace("speech '" + commandText + "'=>'" + commandSemantics + "' at " + angle + " degrees, confidence " + confidence);
// find the handler based on semantics:
SpeechRecognizerDictionaryItem srdi = (from di in speechRecognizerDictionary
where di.semantics == commandSemantics
select di).FirstOrDefault();
// usually Confidence is 0.95-0.99
if (srdi != null && recognized.Body.Confidence > srdi.minimumRequiredConfidence)
{
VoiceCommandState state = _state.VoiceCommandState;
state.TimeStamp = DateTime.Now;
state.Text = commandText;
state.Semantics = commandSemantics;
state.ConfidencePercent = (int)Math.Round(confidence * 100.0f);
state.Direction = angle;
LogHistory(1, "speech '" + commandText + "'=>'" + commandSemantics + "' at " + angle + " deg, " + confidence);
// now call the handler:
srdi.handler(srdi, angle);
}
else if (confidence > 0.5d)
{
LogHistory(3, "rejected '" + commandText + "'=>'" + commandSemantics + "' at " + angle + " deg, " + confidence);
Talker.Say(10, "Homm"); // not enough confidence
}
//setPan(angle);
//setTilt(0);
}
private void VoiceCommandHereIAmHandler(SpeechRecognizerDictionaryItem grammarItem, double angle)
{
if (_mapperVicinity.robotState.robotStrategyType == RobotStrategyType.PersonFollowing && !haveATargetNow && !_mapperVicinity.robotState.ignoreKinectSounds)
{
double targetPanRelativeToRobot = _state.currentPanKinect + angle;
//Talker.Say(10, "Sound at " + ((int)angle));
Talker.Say(10, "Sound at " + ((int)targetPanRelativeToRobot));
//Tracer.Trace("+++++++++++++++ currentPanKinect=" + _state.currentPanKinect + " Sound angle=" + angle + " targetPanRelativeToRobot=" + targetPanRelativeToRobot);
//SetDesiredKinectPlatformPan(angle);
setPanTilt(angle, 5.0d);
lastVoiceLocalized = DateTime.Now;
setCurrentGoalBearingRelativeToRobot(targetPanRelativeToRobot);
// choose robotTacticsType - current tactics is move towards human:
FollowDirectionMaxVelocityMmSec = ModerateForwardVelocityMmSec;
_mapperVicinity.robotState.robotTacticsType = RobotTacticsType.FollowDirection;
}
}
private void VoiceCommandContinueHandler(SpeechRecognizerDictionaryItem grammarItem, double angle)
{
Talker.Say(10, "Strategy: " + robotStrategyTypePrevious);
_mapperVicinity.robotState.robotStrategyType = robotStrategyTypePrevious;
}
private void VoiceCommandContinueHandler(SpeechRecognizerDictionaryItem grammarItem, double angle)
{
Talker.Say(10, "Strategy: " + robotStrategyTypePrevious);
_mapperVicinity.robotState.robotStrategyType = robotStrategyTypePrevious;
}
private void VoiceCommandYourMasterHandler(SpeechRecognizerDictionaryItem grammarItem, double angle)
{
Talker.Say(10, "Sir, Sergei Grich inn, Sir!");
}
private void VoiceCommandTurnRightHandler(SpeechRecognizerDictionaryItem grammarItem, double angle)
{
robotStrategyTypePrevious = _mapperVicinity.robotState.robotStrategyType;
_mapperVicinity.robotState.robotStrategyType = RobotStrategyType.InTransition;
SafePosture();
int rotateAngle = 30;
TurnByAngle(rotateAngle, ModerateTurnPower, true); // use the shoot-and-forget version.
}
private void VoiceCommandTrackHumansHandler(SpeechRecognizerDictionaryItem grammarItem, double angle)
{
Talker.Say(10, "Game On!");
robotStrategyTypePrevious = RobotStrategyType.None;
_mapperVicinity.robotState.robotStrategyType = RobotStrategyType.PersonFollowing;
}
private void VoiceCommandStopHandler(SpeechRecognizerDictionaryItem grammarItem, double angle)
{
_mapperVicinity.robotState.robotStrategyType = RobotStrategyType.None; // active Stop implied
StopMoving();
Talker.Say(10, "Stopped!");
}
private void VoiceCommandShootMeHandler(SpeechRecognizerDictionaryItem grammarItem, double angle)
{
SpawnIterator(ShootGunOnce);
}
private void VoiceCommandHereIAmHandler(SpeechRecognizerDictionaryItem grammarItem, double angle)
{
if (_mapperVicinity.robotState.robotStrategyType == RobotStrategyType.PersonFollowing && !haveATargetNow && !_mapperVicinity.robotState.ignoreKinectSounds)
{
double targetPanRelativeToRobot = _state.currentPanKinect + angle;
//Talker.Say(10, "Sound at " + ((int)angle));
Talker.Say(10, "Sound at " + ((int)targetPanRelativeToRobot));
//Tracer.Trace("+++++++++++++++ currentPanKinect=" + _state.currentPanKinect + " Sound angle=" + angle + " targetPanRelativeToRobot=" + targetPanRelativeToRobot);
//SetDesiredKinectPlatformPan(angle);
setPanTilt(angle, 5.0d);
lastVoiceLocalized = DateTime.Now;
setCurrentGoalBearingRelativeToRobot(targetPanRelativeToRobot);
// choose robotTacticsType - current tactics is move towards human:
FollowDirectionMaxVelocityMmSec = ModerateForwardVelocityMmSec;
_mapperVicinity.robotState.robotTacticsType = RobotTacticsType.FollowDirection;
}
}
private void VoiceCommandShootMeHandler(SpeechRecognizerDictionaryItem grammarItem, double angle)
{
SpawnIterator(ShootGunOnce);
}
private void VoiceCommandYourMasterHandler(SpeechRecognizerDictionaryItem grammarItem, double angle)
{
Talker.Say(10, "Sir, Sergei Grich inn, Sir!");
}
private void VoiceCommandBackUpHandler(SpeechRecognizerDictionaryItem grammarItem, double angle)
{
robotStrategyTypePrevious = _mapperVicinity.robotState.robotStrategyType;
_mapperVicinity.robotState.robotStrategyType = RobotStrategyType.InTransition;
SafePosture();
Translate(-300, MaximumBackwardVelocityMmSec, true); // use the shoot-and-forget version.
}
