/// <summary>
/// Return PulsationBehaviour with appropriate frequency.
/// Frequency is defined by the position of the HaptiQ within this HapticLink
/// </summary>
/// <param name="haptiQ"></param>
/// <returns></returns>
protected override IBehaviour chooseBehaviour(HaptiQ haptiQ)
{
double highFrequency = _hasDirection ? 100 * (Helper.distanceBetweenTwoPoints(haptiQ.position, _pair.Item2) /
Helper.distanceBetweenTwoPoints(_pair.Item2, _pair.Item1)) : DEFAULT_FREQUENCY;
IBehaviour behaviour = new PulsationBehaviour(haptiQ, new Tuple<Point, Point>(_pair.Item1, _pair.Item2), highFrequency);
return behaviour;
}
/// <summary>
/// Constructor for edge-corner behaviour.
/// </summary>
/// <param name="haptiQ"></param>
/// <param name="lines">Geometric lines indicating the direction</param>
public EdgeCornerBehaviour(HaptiQ haptiQ, List<Tuple<Point, Point>> lines)
: base(haptiQ)
{
_lines = lines;
TIME = 0;
highPosition = HIGH_POSITION_PERCENTAGE;
lowPosition = MIN_POSITION;
}
/// <summary>
/// Constructor of the Linear behaviour.
/// Height of the actuators is specified by the ratio value
/// </summary>
/// <param name="haptiQ"></param>
/// <param name="segment"></param>
/// <param name="ratio"></param>
public LinearBehaviour(HaptiQ haptiQ, Tuple<Point, Point> segment, double ratio)
: base(haptiQ)
{
_segment = segment;
TIME = 0;
highPosition = HIGH_POSITION_PERCENTAGE * ratio;
lowPosition = 0;
}
/// <summary>
/// Constructor of the pulsation behaviour.
/// Make the specified actuators to pulse at a constant interval
/// </summary>
/// <param name="haptiQ"></param>
/// <param name="segment"></param>
/// <param name="frequency"></param>
public PulsationBehaviour(HaptiQ haptiQ, Tuple<Point, Point> segment, double frequency)
: base(haptiQ)
{
_segment = segment;
_frequency = frequency;
TIME = 0;
highPosition = HIGH_POSITION_PERCENTAGE;
lowPosition = 0;
}
/// <summary>
/// Behaviour constructor
/// </summary>
/// <param name="haptiQ"></param>
public Behaviour(HaptiQ haptiQ)
{
this.actuators = haptiQ.getActuators();
this.position = haptiQ.position;
this.orientation = haptiQ.orientation;
actuatorsDict = new Dictionary<int, Actuator>();
foreach (Actuator actuator in actuators)
{
actuatorsDict[actuator.getId()] = actuator;
}
}
/// <summary>
/// Output information content via audio if input was received
/// for a device currently in this haptic rectangle
/// </summary>
/// <param name="haptiQ"></param>
/// <param name="gestureType"></param>
public override void handlePress(HaptiQ haptiQ, PRESSURE_GESTURE_TYPE gestureType)
{
Tuple<STATE, IBehaviour> HaptiQState = _HaptiQBehaviours.ContainsKey(haptiQ.getID()) ? _HaptiQBehaviours[haptiQ.getID()] : null;
if (pointIsInside(haptiQ.position) && HaptiQState != null && HaptiQState.Item1 == STATE.down)
{
if (_action != null)
{
_action.run(haptiQ.getID(), gestureType, haptiQ.getCurrentPressureData());
}
else
{
SpeechOutput.Instance.speak(information);
}
}
}
/// <summary>
/// Constructor for a NotificationBehaviour.
/// </summary>
/// <param name="haptiQ"></param>
/// <param name="frequency"></param>
public NotificationBehaviour(HaptiQ haptiQ, double frequency)
: base(haptiQ)
{
TIME = 0;
_frequency = frequency;
_positions = new double[actuators.Count(), 2];
double position = 0.0;
for (int i = 0; i < _positions.GetLength(0); i++)
{
position += 1.0 / (_positions.GetLength(0) - 1);
_positions[i, 0] = position;
_positions[i, 1] = 1;
}
}
/// <summary>
/// Constructor for a BasicBehaviour.
/// </summary>
/// <param name="haptiQ"></param>
/// <param name="type"></param>
/// <param name="frequency"></param>
public BasicBehaviour(HaptiQ haptiQ, TYPES type, double frequency)
: base(haptiQ)
{
_type = type;
TIME = 0;
_frequency = frequency;
highPosition = DEFAULT_POS;
lowPosition = MIN_POSITION;
if (type == TYPES.flat)
{
_actuatorsToActivate = 0;
}
else if (type == TYPES.max)
{
_actuatorsToActivate = (int) (Math.Pow(2, actuators.Count()) - 1);
}
else
{
_actuatorsToActivate = 0;
Helper.Logger("HaptiQ_API.BasicBehaviour.BasicBehaviour::type " + type + " undefined");
}
}
/// <summary>
/// Constructor for a BasicBehaviour.
/// </summary>
/// <param name="haptiQ"></param>
/// <param name="type"></param>
public BasicBehaviour(HaptiQ haptiQ, TYPES type)
: this(haptiQ, type, DEFAULT_FREQUENCY) { }
/// <summary>
/// Return a notificationBehaviour with frequency dictated by the
/// position of the HaptiQ within this shape
/// </summary>
/// <param name="haptiQ"></param>
/// <returns></returns>
protected override IBehaviour chooseBehaviour(HaptiQ haptiQ)
{
return new NotificationBehaviour(haptiQ, getFrequency(haptiQ.position));
}
/// <summary>
/// Return an Edge-Corner behaviour based on the position of the haptiQ
/// on this polyline
/// </summary>
/// <param name="haptiQ"></param>
/// <returns></returns>
protected override IBehaviour chooseBehaviour(HaptiQ haptiQ)
{
return new EdgeCornerBehaviour(haptiQ, _lines);
}
/// <summary>
/// Handle behaviours on input
/// </summary>
/// <param name="haptiQ"></param>
/// <returns></returns>
public Tuple<BEHAVIOUR_RULES, IBehaviour, IBehaviour> handleInput(HaptiQ haptiQ)
{
if (this.Parent != null)
{
Tuple<STATE, IBehaviour> HaptiQState = _HaptiQBehaviours.ContainsKey(haptiQ.getID()) ? _HaptiQBehaviours[haptiQ.getID()] : null;
if (pointIsInside(haptiQ.position))
{
IBehaviour prevBehaviour = HaptiQState != null ? HaptiQState.Item2 : null;
IBehaviour currentBehaviour = chooseBehaviour(haptiQ);
currentBehaviour.updateNext(prevBehaviour);
BEHAVIOUR_RULES rule = BEHAVIOUR_RULES.SUBS;
if (currentBehaviour.Equals(prevBehaviour))
{
rule = BEHAVIOUR_RULES.NOPE;
}
_HaptiQBehaviours[haptiQ.getID()] = new Tuple<STATE, IBehaviour>(STATE.down, currentBehaviour);
return new Tuple<BEHAVIOUR_RULES, IBehaviour, IBehaviour>(rule, currentBehaviour, prevBehaviour);
}
else if (HaptiQState != null && HaptiQState.Item1 == STATE.down)
{
IBehaviour prevBehaviour = HaptiQState.Item2;
IBehaviour currentBehaviour = new BasicBehaviour(haptiQ, BasicBehaviour.TYPES.flat);
BEHAVIOUR_RULES rule = BEHAVIOUR_RULES.SUBS;
if (currentBehaviour.Equals(prevBehaviour))
{
rule = BEHAVIOUR_RULES.NOPE;
}
_HaptiQBehaviours[haptiQ.getID()] = new Tuple<STATE, IBehaviour>(STATE.up, currentBehaviour);
return new Tuple<BEHAVIOUR_RULES, IBehaviour, IBehaviour>(rule, currentBehaviour, prevBehaviour);
}
}
Tuple<BEHAVIOUR_RULES, IBehaviour, IBehaviour> retval =
new Tuple<BEHAVIOUR_RULES, IBehaviour, IBehaviour>(BEHAVIOUR_RULES.REMOVE,
_HaptiQBehaviours.ContainsKey(haptiQ.getID()) ? _HaptiQBehaviours[haptiQ.getID()].Item2 : null, null);
_HaptiQBehaviours[haptiQ.getID()] = new Tuple<STATE, IBehaviour>(STATE.up, null);
return retval;
}
/// <summary>
/// Return appropriate behaviour based on the position of the HaptiQ within
/// this HapticRectangle
/// </summary>
/// <param name="haptiQ"></param>
/// <returns></returns>
protected override IBehaviour chooseBehaviour(HaptiQ haptiQ)
{
IBehaviour behaviour = null;
Point bottomLeft = new Point(x, y + height);
Point bottomRight = new Point(x + width, y + height);
Point topLeft = new Point(x, y);
Point topRight = new Point(x + width, y);
List<Tuple<Point, Point>> lines = new List<Tuple<Point, Point>>();
if (pointIsCloseToSegment(haptiQ.position, bottomLeft, bottomRight, CORNER_NEARNESS_TOLLERANCE) &&
pointIsCloseToSegment(haptiQ.position, bottomLeft, topLeft, CORNER_NEARNESS_TOLLERANCE)) // bottom-left corner
{
lines.Add(new Tuple<Point, Point>(bottomLeft, bottomRight));
lines.Add(new Tuple<Point, Point>(bottomLeft, topLeft));
}
else if (pointIsCloseToSegment(haptiQ.position, topLeft, topRight, CORNER_NEARNESS_TOLLERANCE) &&
pointIsCloseToSegment(haptiQ.position, topLeft, bottomLeft, CORNER_NEARNESS_TOLLERANCE)) // top-left corner
{
lines.Add(new Tuple<Point, Point>(topLeft, topRight));
lines.Add(new Tuple<Point, Point>(topLeft, bottomLeft));
}
else if (pointIsCloseToSegment(haptiQ.position, topRight, topLeft, CORNER_NEARNESS_TOLLERANCE) &&
pointIsCloseToSegment(haptiQ.position, topRight, bottomRight, CORNER_NEARNESS_TOLLERANCE)) // top-right corner
{
lines.Add(new Tuple<Point, Point>(topRight, topLeft));
lines.Add(new Tuple<Point, Point>(topRight, bottomRight));
}
else if (pointIsCloseToSegment(haptiQ.position, bottomRight, topRight, CORNER_NEARNESS_TOLLERANCE) &&
pointIsCloseToSegment(haptiQ.position, bottomRight, bottomLeft, CORNER_NEARNESS_TOLLERANCE)) // bottom-right corner
{
lines.Add(new Tuple<Point, Point>(bottomRight, topRight));
lines.Add(new Tuple<Point, Point>(bottomRight, bottomLeft));
}
else if (pointIsCloseToSegment(haptiQ.position, bottomLeft, bottomRight, NEARNESS_TOLLERANCE)) // horizontal
{
lines.Add(new Tuple<Point, Point>(bottomLeft, bottomRight));
}
else if (pointIsCloseToSegment(haptiQ.position, topLeft, topRight, NEARNESS_TOLLERANCE)) // horizontal
{
lines.Add(new Tuple<Point, Point>(topLeft, topRight));
}
else if (pointIsCloseToSegment(haptiQ.position, topLeft, bottomLeft, NEARNESS_TOLLERANCE)) // vertical
{
lines.Add(new Tuple<Point, Point>(topLeft, bottomLeft));
}
else if (pointIsCloseToSegment(haptiQ.position, topRight, bottomRight, NEARNESS_TOLLERANCE)) // vertical
{
lines.Add(new Tuple<Point, Point>(topRight, bottomRight));
}
else
{
behaviour = new BasicBehaviour(haptiQ, BasicBehaviour.TYPES.max);
}
if (behaviour == null)
{
behaviour = new EdgeCornerBehaviour(haptiQ, lines);
}
return behaviour;
}
/// <summary> /// Return a behaviour for this haptic shape /// </summary> /// <param name="haptiQ"></param> /// <returns></returns> protected abstract IBehaviour chooseBehaviour(HaptiQ haptiQ);
/// <summary>
/// Registers an HaptiQ.
/// Returns not updated id if HaptiQ could not be added.
/// </summary>
/// <param name="haptiQ"></param>
/// <returns> unique id assigned to HaptiQ </returns>
public UInt32 addHaptiQ(HaptiQ haptiQ)
{
if (haptiQ == null)
{
Helper.Logger("HaptiQ_API.HaptiQsManager.addHaptiQ:: HaptiQ is null");
return _nextID;
}
else
{
haptiQ.PositionChanged += new PositionEventHandler(HaptiQ_PositionChanged);
haptiQ.PressureInput += new PressureInputEventHandler(HaptiQ_PressureInput);
haptiQ.ActuatorPositionChanged += new ActuatorPositionEventHandler(HaptiQ_ActuatorPositionChanged);
haptiQ.PressureGesture += new PressureGestureEventHandler(pressureGestureHaptiQChanged);
_HaptiQsDictionary.Add(_nextID, haptiQ);
_inputIdentifiersToHaptiQs.Add(haptiQ.configuration.inputIdentifier, _nextID);
return _nextID++;
}
}
private void handleBehaviours(HaptiQ haptiQ, Point point, double orientation)
{
// Notify observers
lock (_syncObj)
{
Parallel.ForEach(_hapticObjectObservers, observer =>
{
Tuple<BEHAVIOUR_RULES, IBehaviour, IBehaviour> behaviour = observer.handleInput(haptiQ);
switch (behaviour.Item1)
{
case BEHAVIOUR_RULES.ADD:
haptiQ.addBehaviour(behaviour.Item2);
break;
case BEHAVIOUR_RULES.REMOVE:
haptiQ.removeBehaviour(behaviour.Item2);
break;
case BEHAVIOUR_RULES.SUBS:
// Substitute behaviours
haptiQ.removeBehaviour(behaviour.Item3);
haptiQ.addBehaviour(behaviour.Item2);
break;
case BEHAVIOUR_RULES.NOPE:
// Do nothing
break;
default:
Helper.Logger("HaptiQ_API.HaptiQsManager.handleBehaviours:: observed returned unknown rule for behaviour");
break;
}
});
}
}
private void createHaptiQs(List<Configuration> configurations)
{
if (configurations != null && configurations.Count > 0)
{
foreach (Configuration configuration in configurations)
{
HaptiQ haptiQ = new HaptiQ(_nextID, configuration);
addHaptiQ(haptiQ); // Add this HaptiQ to HaptiQsManager appropriate data structure
}
}
}
/// <summary>
/// Constructor for a NotificationBehaviour.
/// </summary>
/// <param name="haptiQ"></param>
public NotificationBehaviour(HaptiQ haptiQ)
: this(haptiQ, DEFAULT_FREQUENCY) { }
/// <summary>
/// Returns an edge-corner behaviour based on the position of the HaptiQ
/// on the HapticLine
/// </summary>
/// <param name="haptiQ"></param>
/// <returns></returns>
protected override IBehaviour chooseBehaviour(HaptiQ haptiQ)
{
List<Tuple<Point, Point>> lines = new List<Tuple<Point, Point>>();
lines.Add(_pair);
return new EdgeCornerBehaviour(haptiQ, lines);
}
/// <summary>
/// Handle an actuator press.
/// Note: Multiple presses are not supported, yet.
/// </summary>
/// <param name="haptiQ"></param>
/// <param name="gestureType"></param>
public virtual void handlePress(HaptiQ haptiQ, PRESSURE_GESTURE_TYPE gestureType)
{
Tuple<STATE, IBehaviour> HaptiQState = _HaptiQBehaviours.ContainsKey(haptiQ.getID()) ? _HaptiQBehaviours[haptiQ.getID()] : null;
if (pointIsInside(haptiQ.position) && HaptiQState != null && HaptiQState.Item1 == STATE.down)
{
if (_action != null)
{
_action.run(haptiQ.getID(), gestureType, haptiQ.getCurrentPressureData());
}
}
}
