// Performs the sequence by stepping through each frame and executing the required
// voice synthesizer, delay, and motion actions.
private void RunSequenceThread()
{
if (!servoManager.IsConnected())
{
ErrorLogging.AddMessage(ErrorLogging.LoggingLevel.Warning, "Servo hardware is disconnected, running sequence '" + runningSequence.name + "' in simulation mode.");
}
// Disable the person tracking feature while a sequence is executing.
servoManager.PersonTrackingEnable(false);
ErrorLogging.AddMessage(ErrorLogging.LoggingLevel.Info, "RunSequence(): sequence '" + runningSequence.name + "' started.");
foreach (Frame frame in runningSequence.GetFrames())
{
// Run the speech synthesizer asynchronously. Speaks while continuing to
// perform moves in this and subsequent frames.
if (frame.speechString != null)
{
speechSynthesizer.SpeakAsync(frame.speechString);
}
// Go to the relevant PPT Slide
// perform moves in this and subsequent frames.
if (frame.pptIndex != null)
{
if (pptController.IsPptActive())
{
pptController.GoToSlide(frame.pptIndex);
}
}
// Wait for the specified amount of time.
if (frame.delay > 0)
{
Thread.Sleep((int)(frame.delay * 1000));
}
// Move all servos in the frame list.
if (frame.GetServoPositions().Count > 0)
{
servoManager.MoveServos(frame.GetServoPositions(), frame.timeToDestination);
}
}
ErrorLogging.AddMessage(ErrorLogging.LoggingLevel.Info, "RunSequence(): sequence '" + runningSequence.name + "' completed.");
// Re-enable the person tracking feature.
servoManager.PersonTrackingEnable(true);
lock (sequenceLock)
{
sequenceIsRunning = false;
}
}
// Performs servo motions for the current frame, and triggers an event when motion is complete.
private void MoveServos(object sequenceThreadData)
{
Frame frame = ((SequenceThreadData)sequenceThreadData).frame;
// Move all servos in the frame list.
if (frame.GetServoPositions().Count > 0)
{
servoManager.MoveServos(frame.GetServoPositions(), frame.timeToDestination);
}
// Signal that motion is complete.
((SequenceThreadData)sequenceThreadData).resetEvent.Set();
}