/// <summary>
/// The robot waits for an user voice confirmation of a location command (table or kitchen)
/// </summary>
/// <returns></returns>
private int WaitForLocationConfirmation(int currentState, object o)
{
TextBoxStreamWriter.DefaultLog.WriteLine("HAL9000.-> Waiting for location confirmation");
//waits for an user voice confirmation
if (this.brain.WaitForUserConfirmation())
{
cmdMan.MVN_PLN_stopfollowhuman();
cmdMan.MVN_PLN_stopsavingpath();
cmdMan.HEAD_lookat(SMConfiguration.HeadHomePan, SMConfiguration.HeadHomeTilt, 1000);
cmdMan.ARMS_goto(SMConfiguration.ArmsHomePosition, 10000);
if (tableCommandRecognized)
{
TextBoxStreamWriter.DefaultLog.WriteLine("HAL9000.-> Table location confirmed");
//Ask for the direction of the table
brain.SayAsync(SMConfiguration.TableDirectionAskingMessage);
brain.recognizedSentences.Clear();
Thread.Sleep(100);
return((int)States.WaitForTableDirectionCommand);
}
if (kitchenCommandRecognized)
{
TextBoxStreamWriter.DefaultLog.WriteLine("HAL9000.-> Kitchen location confrimed");
brain.SayAsync(SMConfiguration.OrderAskingMessage);
brain.recognizedSentences.Clear();
Thread.Sleep(1000);
TextBoxStreamWriter.DefaultLog.WriteLine("HAL9000.-> Waiting for ordering command.");
return((int)States.WaitForOrderingCommand);
}
}
brain.SayAsync("Ok no.");
//Thread.Sleep(500);
brain.recognizedSentences.Clear();
return((int)States.WaitForLocationCommand);
//return (int)States.FollowHuman;
}
