/// <summary>
/// Resets the audio connection
/// </summary>
public void Disconnect()
{
if(isRecording)
stopRecording();
tts = null;
audio = null;
}
private static bool IsNao(string ip)
{
TextToSpeechProxy proxy = new TextToSpeechProxy(ip, 9559);
proxy.say("Connected");
return(true);
}
public Bewegen(RobotPostureProxy rpp, MotionProxy motion, MainWindow mw, TextToSpeechProxy tts)
{
this.rpp = rpp;
this.motion = motion;
this.mw = mw;
this.tts = tts;
}
public MainWindow()
{
InitializeComponent();
this.TextToSpeechProxy = new TextToSpeechProxy(NAO_IP_ADDRESS, NAO_PORT);
this.BehaviorManagerProxy = new BehaviorManagerProxy(NAO_IP_ADDRESS, NAO_PORT);
this.LedsProxy = new LedsProxy(NAO_IP_ADDRESS, NAO_PORT);
}
public MainWindow()
{
InitializeComponent();
this.TextToSpeechProxy = new TextToSpeechProxy(NAO_IP_ADDRESS, NAO_PORT);
this.BehaviorManagerProxy = new BehaviorManagerProxy(NAO_IP_ADDRESS, NAO_PORT);
this.LedsProxy = new LedsProxy(NAO_IP_ADDRESS, NAO_PORT);
}
public bool connect(string ip, bool onlymotion = false)
{
this.IP = ip;
bool b = false;
try
{
proxyMotion = new MotionProxy(ip, Port);
if (onlymotion == false)
{
bool bc = proxyMotion.setCollisionProtectionEnabled("Arms", false);
if (!bc)
Console.WriteLine("Failed to disable collision protection");
StartMotorMonitor();
proxyBehaviorManager = new BehaviorManagerProxy(ip, Port);
// Turn off the LEDs
proxyLed = new LedsProxy(ip, Port);
List<string> ledgroups = proxyLed.listGroups();
foreach (string ledgroup in ledgroups)
{
proxyLed.off(ledgroup);
}
// Speech
proxyTTS = new TextToSpeechProxy(ip, Port);
if (ip != "127.0.0.1")
{
// Sentinel
proxySentinel = new SentinelProxy(ip, Port);
// Turning off "Motor hot!"
proxySentinel.enableHeatMonitoring(false);
}
// camera
proxyCamera = new VideoDeviceProxy(ip, Port);
// IdleMovement
InitIdleMovement();
}
b = true;
}
catch (Exception e)
{
Console.WriteLine("MotionProxy.Connect Exception: " + e);
b = false;
}
IsConnected = b;
return b;
}
private void button_connect_to_IP_Click(object sender, EventArgs e)
{
this.tts = new TextToSpeechProxy(this.textBox_IP.Text, 9559);
this.motion = new MotionProxy(this.textBox_IP.Text, 9559);
this.BackColor = Color.AliceBlue;
this.tts.say("connected.");
this.motion.setStiffnesses("Body", 0);
}
public void Initialisierung(String ip, Int32 port)
{
motion = new MotionProxy(ip, port);
rpp = new RobotPostureProxy(ip, port);
tts = new TextToSpeechProxy(ip, port);
Bewegen = new Bewegen(rpp, motion, mw, tts);
Start Start = new Start();
//Nao geht in die Startposition
Start.Startposition(rpp, tts);
}
public void Initialisierung(String ip, Int32 port)
{
motion = new MotionProxy(ip, port);
rpp = new RobotPostureProxy(ip, port);
tts = new TextToSpeechProxy(ip, port);
Nao_Start Nao_Start = new Nao_Start();
//Nao geht in die Startposition
Nao_Start.Startposition(rpp, tts);
}
public void Startposition(RobotPostureProxy rpp, TextToSpeechProxy tts)
{
try
{
rpp.goToPosture("StandZero", 1);
tts.say("Herzlich Willkommen zum Spiel.");
}
catch (Exception e)
{
Console.WriteLine("Startposition Fehler" + e.Message);
}
}
private void button_connect_Click(object sender, EventArgs e)
{
string ip = this.textBox1.Text;
this.tts = new TextToSpeechProxy(ip, 9559);
this.motion = new MotionProxy(ip, 9559);
this.posture = new RobotPostureProxy(ip, 9559);
this.navigation = new NavigationProxy(ip, 9559);
Console.Beep();
this.label1.Text += "\nconnected.";
}
public void startNAO()
{
try
{
tts = new TextToSpeechProxy("192.168.0.102", 9559);
connectedToNAO = true;
}
catch (Exception e)
{
connectedToNAO = false;
ErrorLabel.Text = "No Connection to NAO";
}
}
//connect to the Nao robot
private void ConnectToNao(string nao_ip_address, int nao_port)
{
bool success = true;
try
{
TextToSpeechProxy = new TextToSpeechProxy(nao_ip_address, nao_port);
BehaviorManagerProxy = new BehaviorManagerProxy(nao_ip_address, nao_port);
LedsProxy = new LedsProxy(nao_ip_address, nao_port);
VideoRecorderProxy = new VideoRecorderProxy(nao_ip_address, nao_port);
MotionProxy = new MotionProxy(nao_ip_address, nao_port);
AudioProxy = new AudioDeviceProxy(nao_ip_address, nao_port);
}
catch (Exception)
{
success = false;
}
ConnectButton.Dispatcher.BeginInvoke(DispatcherPriority.Normal,
new UpdateInterfaceAfterConnectDelegate(UpdateUserInterfaceAfterConnect), success);
}
public MainWindow(string ip, int port, int condition)
{
count = 1;
this.ip = ip;
this.port = port;
this.condition = condition;
ready = true;
this.Background = new SolidColorBrush(Colors.LightGreen);
InitializeComponent();
this.tts = new TextToSpeechProxy(ip, port);
gazeControl = new GazeControl(ip, port);
this.led = new LedsProxy(ip, port);
led.off("ChestLeds");
led.on("ChestLedsGreen");
started = false;
}
public NaoController(string ip, MainController main)
{
try
{
this.main = main;
this.ip = ip;
prevAng = PI;
proxy = new MotionProxy(ip, 9559);
if (this.ip != "127.0.0.1")
{
tts = new TextToSpeechProxy(this.ip, 9559);
}
else
{
tts = null;
}
//this.setStiffness(1.0f);
}
catch (Exception e)
{
Console.Out.WriteLine("Connect exception: " + e);
}
}
public MainWindow(string ip, int port, int condition)
{
this.ip = ip;
this.port = port;
this.condition = condition;
InitializeComponent();
completeCheck = new Check.Check();
ready = true;
this.Background = new SolidColorBrush(Colors.LightGreen);
gazeControl = new GazeControl(ip, port);
kinect = new HCI.GAS.Kinect.KinectAudio("XMLs\\Thoughtfulness_Grammar.xml",ip,port);
led = new LedsProxy(ip, port);
led.off("ChestLeds");
led.on("ChestLedsGreen");
//TODO: check if auto has been depreciated.
kinect.auto = false;
end = false;
tts = new TextToSpeechProxy(ip, port);
}
/// <summary>
/// Connects to the NAO robot
/// </summary>
/// <param name="ip"> ip address of the robot </param>
public void connect(string ip)
{
// if audio or tts is not null it then was not properly disconnected
if (audio != null || tts != null)
{
Disconnect();
}
// attempt to connect
try
{
ipString = ip;
audio = new AudioDeviceProxy(ip, 9559);
tts = new TextToSpeechProxy(ip, 9559);
}
catch (Exception e)
{
// display error message and write exceptions to a file
MessageBox.Show("Exception occurred, error log in C:\\NAOcam\\exception.txt");
System.IO.File.WriteAllText(@"C:\\NAOcam\\exception.txt",
e.ToString());
}
}
private void Button_Click_1(object sender, RoutedEventArgs e)
{
//Initialize the motion proxy using the text in the ipBox
MotionProxy mp = new MotionProxy(ipBox.Text, 9559);
//Initialize the text to speech proxy using the text in the ipBox
ttsp = new TextToSpeechProxy(ipBox.Text, 9559);
//Initialize the robots posture proxy using the text in the ipBox
RobotPostureProxy rpp = new RobotPostureProxy(ipBox.Text, 9559);
//Wakes the robot up, tells the robot to stand and say hello
mp.wakeUp();
rpp.goToPosture("StandInit", .5f);
ttsp.say("Hola");
//Sets up lighting of the camera with a white color and directs it in the appropriate direction
DirectionalLight DirLight1 = new DirectionalLight();
DirLight1.Color = Colors.White;
DirLight1.Direction = new Vector3D(1, 1, 1);
//Setting up the camera so that the picture we see is in a good position
PerspectiveCamera Camera1 = new PerspectiveCamera();
Camera1.FarPlaneDistance = 16000;
Camera1.NearPlaneDistance = 10;
//Zoomed in with a 45 degree field of view
Camera1.FieldOfView = 45;
//50 mm away from the point cloud and centered in the middle
Camera1.Position = new Point3D(320, 240, -50);
//Flips the camera so that we see everything right side up
Camera1.LookDirection = new Vector3D(0, 0, 1);
Camera1.UpDirection = new Vector3D(0, -1, 0);
//Creates a new model 3D group to hold the sets of 3D models
Model3DGroup modelGroup = new Model3DGroup();
//builds the 3D model
int i = 0;
for (int y = 0; y < 480; y += pointDen)
{
for (int x = 0; x < 640; x += pointDen)
{
points[i] = Triangle(x, y, pointDen);
points[i].Transform = new TranslateTransform3D(0, 0, 0);
modelGroup.Children.Add(points[i]);
i++;
}
}
//Adds the directional light to the model group
modelGroup.Children.Add(DirLight1);
ModelVisual3D modelsVisual = new ModelVisual3D();
modelsVisual.Content = modelGroup;
Viewport3D myViewport = new Viewport3D();
myViewport.IsHitTestVisible = false;
myViewport.Camera = Camera1;
myViewport.Children.Add(modelsVisual);
canvas1.Children.Add(myViewport);
myViewport.Height = canvas1.Height;
myViewport.Width = canvas1.Width;
Canvas.SetTop(myViewport, 0);
Canvas.SetLeft(myViewport, 0);
sensor = KinectSensor.KinectSensors[0];
sensor.DepthStream.Enable(DepthImageFormat.Resolution640x480Fps30);
sensor.DepthFrameReady += DepthFrameReady;
sensor.Start();
}
private void ConnectToNao(string nao_ip_address, int nao_port)
{
bool success = true;
try
{
TextToSpeechProxy = new TextToSpeechProxy(nao_ip_address, nao_port);
BehaviorManagerProxy = new BehaviorManagerProxy(nao_ip_address, nao_port);
LedsProxy = new LedsProxy(nao_ip_address, nao_port);
VideoRecorderProxy = new VideoRecorderProxy(nao_ip_address, nao_port);
}
catch (Exception)
{
success = false;
}
ConnectButton.Dispatcher.BeginInvoke(DispatcherPriority.Normal,
new UpdateInterfaceAfterConnectDelegate(UpdateUserInterfaceAfterConnect), success);
}
static void bicara()
{
TextToSpeechProxy tts = new TextToSpeechProxy("167.205.66.80", 9559);
tts.say("Hallo buddy");
}
static void Main(string[] args)
{
bool guessed = false;
// used to determine if the user has guessed the right number
int wordAsInt = -1;
// used to translate recongized word in to an integer value
List<string> words = new List<string>();
// create list of words to sent to Nao bot
// Create a connection to the text to speech engine on the Nao bot
TextToSpeechProxy tts = new TextToSpeechProxy("172.28.78.228", 9559);
// Create a connection to the speech recognition on the Nao bot
SpeechRecognitionProxy speechR = new SpeechRecognitionProxy("172.28.78.228",
9559);
// create connection to robot memory
MemoryProxy m = new MemoryProxy("172.28.78.228", 9559);
// random number generator
Random rnd = new Random();
// generates number between 1‐5
int rndNum = rnd.Next(6);
// check for rndNum being 0
if(rndNum == 0)
{
wordAsInt++;
}
// add words we want recognized to word list
words.Add("one");
words.Add("two");
words.Add("three");
words.Add("four");
words.Add("five");
speechR.setVocabulary(words, false); // send the word list to robot
Console.WriteLine("Guessing game running on NAO");
// loop until number is guessed
while (!guessed)
{
// user instructions
tts.say("I have picked a number between one and five, try to guess it");
System.Threading.Thread.Sleep(1500); // wait 1.5 seconds
speechR.subscribe("Main", 50, 50); // Start speech recognition engine
System.Threading.Thread.Sleep(5000); // wait 5 seconds
speechR.unsubscribe("Main"); // stop speech recognition engine
// get lastwordrecognized from memory
object wordObj = m.getData("LastWordRecognized");
string word = (string)((ArrayList)wordObj)[0];
// convert word to a integer
switch (word)
{
case "one":
wordAsInt = 1;
break;
case "two":
wordAsInt = 2;
break;
case "three":
wordAsInt = 3;
break;
case "four":
wordAsInt = 4;
break;
case "five":
wordAsInt = 5;
break;
default:
wordAsInt = -1;
break;
}
// if else block to determine if user guessed too high, too low, or correctly
if (wordAsInt > rndNum)
{
tts.say("You guessed too high");
}
else if (wordAsInt == rndNum)
{
tts.say("You guessed correctly!");
guessed = true;
}
else if (wordAsInt < rndNum)
{
tts.say("You guessed too low");
}
// debug output
Console.WriteLine("/nNumber guessed was ");
Console.Write(word);
Console.WriteLine("/n Actual number is ");
Console.Write(rndNum);
}
}
public void speak(String context)
{
tts = new TextToSpeechProxy(this.ip, 9559);
tts.say(context);
}
static void Main(string[] args)
{
string mIp = "127.0.0.1";
//string mIp = "192.168.1.134";
int mPort = 9559;
GamePadState state;
state = GamePad.GetState(PlayerIndex.One);
MotionProxy motion = new MotionProxy(mIp, mPort);
Console.WriteLine("MotionProxy connecté à {0}:{1}", mIp, mPort);
TextToSpeechProxy tts = new TextToSpeechProxy(mIp, mPort);
Console.WriteLine("TextToSpeechProxy connecté à {0}:{1}", mIp, mPort);
RobotPostureProxy posture = new RobotPostureProxy(mIp,mPort);
Console.WriteLine("RobotPostureProxy connecté à {0}:{1}", mIp, mPort);
tts.setLanguage("French");
motion.setStiffnesses("Body", 1f);
Console.WriteLine();
Console.WriteLine("En attente de connection de la manette");
while (!state.IsConnected)
{
state = GamePad.GetState(PlayerIndex.One);
}
Console.WriteLine("Manette connectée");
Object[] headJoints = { "HeadYaw", "HeadPitch" };
Object[] rshoulderJoints = { "RShoulderRoll", "RShoulderPitch" };
Object[] lelbowJoints = { "LElbowYaw", "LElbowRoll" };
Object[] handsJoints = { "LHand", "RHand" };
Object[] handAngles = new Object[2];
Object[] Angles = new Object[2];
float horizontal = 0f;
float parallel = 0f;
float theta = 0f;
float percentMaxSpeed = 0.5f;
while (state.IsConnected && state.Buttons.Back == ButtonState.Released )
{
state = GamePad.GetState(PlayerIndex.One);
if (state.Buttons.A == ButtonState.Pressed)
{
tts.setLanguage("French");
tts.say("Bonjour");
}
if(state.Buttons.B == ButtonState.Pressed)
{
tts.setLanguage("English");
tts.say("Hello");
}
if (state.Buttons.X == ButtonState.Pressed) posture.goToPosture("Crouch", 1f) ;
if (state.Buttons.Y == ButtonState.Pressed) posture.goToPosture("Stand", 1f);
if (state.Buttons.Start == ButtonState.Pressed) posture.goToPosture("StandZero", 1f);
if (state.DPad.Up == ButtonState.Pressed) posture.goToPosture("LyingBelly", 1f);
if (state.DPad.Down == ButtonState.Pressed) posture.goToPosture("LyingBack", 1f);
if (state.DPad.Left == ButtonState.Pressed) posture.goToPosture("SitRelax", 1f);
if (state.DPad.Right == ButtonState.Pressed) posture.goToPosture("Sit", 1f);
float modX = 1.75f;
float modY = 2f;
Angles = new Object[] { -state.ThumbSticks.Right.X * modX, -state.ThumbSticks.Right.Y * modY };
if (state.ThumbSticks.Left.Y <= -0.1f || state.ThumbSticks.Left.Y >= 0.1f)
horizontal = state.ThumbSticks.Left.Y;
else horizontal = 0f;
if (state.ThumbSticks.Left.X <= -0.1f || state.ThumbSticks.Left.X >= 0.1f)
theta = -state.ThumbSticks.Left.X;
else theta = 0f;
if (state.Triggers.Left >= 0.1f)
parallel = state.Triggers.Left;
else if (state.Buttons.LeftShoulder == ButtonState.Pressed)
parallel = -state.Triggers.Right;
else parallel = 0f;
handAngles = new Object[] {
state.Buttons.LeftShoulder == ButtonState.Pressed ? 0f : 1f,
state.Buttons.RightShoulder == ButtonState.Pressed ? 0f : 1f
};
motion.move(horizontal, parallel, theta);
//motion.setAngles(rshoulderJoints, Angles, percentMaxSpeed);
motion.setAngles(headJoints, Angles, percentMaxSpeed);
//motion.setAngles(lelbowJoints, Angles, percentMaxSpeed);
motion.setAngles(handsJoints, handAngles, 1f);
}
}
static void Main(string[] args)
{
TextToSpeechProxy tts = new TextToSpeechProxy("<IP OF YOUR ROBOT>", 9559);
tts.say("Hello World");
}
private static bool IsNao(string ip)
{
TextToSpeechProxy proxy = new TextToSpeechProxy(ip, 9559);
proxy.say("Connected");
return true;
}
// Chaque client à son propre "main"
public void Thread()
{
//on demande au client de s'authentifier
sw.WriteLine("NICK!");
sw.Flush();
string nickString = null;
try
{
nickString = sr.ReadLine();
} catch(Exception e)
{
Fermerconnexion();
return;
}
string[] commande = null;
//on décortique la commande
commande = GetCommande(nickString);
//Le protocole dit : on doit envoyer NICK!LeNick - si ce n'est pas le cas on envoie le message d'erreur conséquent
if (!commande[0].Equals("NICK") || commande[1] == null )
{
//le client n'a pas fourni son nom
if (commande[1] == null)
{
commande[1] = "Mauvaise authentification: NICK!Authentifiant attendu";
}
//on se garde une trace sur la console serveur
Console.WriteLine(commande[1]);
//on envoie l'erreur au client
Erreur(commande[1]);
// on ferme la connexion
Fermerconnexion();
// on sort de la méthode - tuer le thread.
return;
}
if (!Regex.IsMatch(commande[1], @"^[a-zA-Z0-9_]+$"))
{
//on se garde une trace sur la console serveur
Console.WriteLine(commande[1] + " ne contient pas uniquement des caractère alphanumérique et des soulignés");
//on envoie l'erreur au client
Erreur("votre nom contient des caractère proscrit : uniquement A-Z a-z 0-9 _ sont authorisés");
// on ferme la connexion
Fermerconnexion();
// on sort de la méthode - tuer le thread.
return;
}
//Si le nom est déjà dans la liste, erreur
foreach (Client client in listeClient)
{
if (client.nick.ToUpper().Equals(commande[1].ToUpper()))
{
Erreur("Ce nom est déjà présent");
Fermerconnexion();
return;
}
}
//enregistrer le nom dans l'objet du client.
this.nick = commande[1];
//on se garde une trace
Console.WriteLine(this.nick + " vient de se connecter");
//on ajoute le client à la liste
AjouterClient(this);
//on repond au client avec HELO!.
Ecrire("HELO!" + nick);
//On doit diffuser que le client vient de se connecter
DiffuserCommande(this, "JOIN");
//tant que le client est actif (l'état va changer avec la commande QUIT!)
bool active = true;
//tant que le socket est connecté.
while (ClientConnecte() && active)
{
//bloquant - jusqu'à ce qu'une ligne arrive ou encore une déconnexion violente
string message = null;
try{
message = sr.ReadLine();
}
catch (Exception e)
{
Console.WriteLine("message null, on déconnecte ce socket : "+e.Message);
}
//lorsque le socket se fait débrancher, sr.ReadLine() va débloquer et message va être à null
if (message == null)
{
//on se garde une trace dans la console pour indiquer que le client vient de se déconnecter.
Console.WriteLine(this.nick + " vient de se déconnecter");
// on demande à etre retirer de la liste;
RetirerClient(this);
//On doit diffuser que le client vient de se déconnecter.
Diffuser(this, "QUIT", "Socket terminé");
//on ferme les tream
Fermerconnexion();
//on sors de la méthode ce qui va tuer le thread. fermeture propre.
return;
}
Console.WriteLine(" message explicite >> " + message);
//maintenant que les erreurs de deconnexions ont été géré.
//on décortique la commande recu.
commande = GetCommande(message);
switch (commande[0])
{
//message d'erreur
case "MSGE":
{
Erreur(commande[1]);
break;
}
//message à tous
case "MSGA":
{
if (commande[1] != null)
{
Diffuser(this, "MSGA", commande[1]);
}
else
{
Erreur("Le message ne peut pas être vide");
}
break;
}
//message privé
case "MSGP":
{
commande[1] = (commande[1] == null) ? "" : commande[1];
string[] destinataireMessage = AnalyseSousCommande(commande[1]);
if (destinataireMessage[0].Length == 0)
{
Erreur("Aucun destinataire spéficié");
}
else if (destinataireMessage[1].Length == 0)
{
Erreur("Aucun message spécifié");
}
else
{
Console.WriteLine("Tentative de message privé à envoyer à: " + destinataireMessage[0]);
bool envoye = false;
foreach (Client client in listeClient)
{
if (client.nick.ToUpper().Equals(destinataireMessage[0].ToUpper()))
{
Ecrire("SUCC!" + commande[0]);
client.Ecrire(commande[0] + "!" + this.nick + "!" + destinataireMessage[1]);
envoye = true;
}
}
if (!envoye)
{
this.Erreur("aucun destinataire trouvé");
}
}
break;
}
/*
* Le protocol dit que le serveur doit répondre avec
* LIST!nom1,nom2,nom3,nom4.....nomN
* vous devez implémenter cette méthode
* */
case "LIST":
{
StringBuilder sb = new StringBuilder();
sb.Append("LIST!");
bool append = false;
foreach (Client client in listeClient)
{
sb.Append(client.nick + ",");
append = true;
}
//enleve la dernière virgule;
if (append)
{
sb.Length -= 1;
}
Ecrire(sb.ToString());
break;
}
case "QUIT":
{
Ecrire("SUCC!" + commande[0]);
if (commande[1] == null)
{
Diffuser(this, commande[0], "bye bye !");
}
else
{
Diffuser(this, commande[0], commande[1]);
}
active = false;
break;
}
case "CONN":
{
if (naoTts == null || naoMotion == null || naoPosture == null)
{
Console.WriteLine("Connection à NAO");
//naoTts = new TextToSpeechProxy("192.168.2.134", 9559);
naoTts = new TextToSpeechProxy("127.0.0.1", 9559);
Console.WriteLine("TextToSpeechProxy connecté");
naoTts.setLanguage("FRENCH");
naoTts.setVolume(0.3f);
//naoMotion = new MotionProxy("192.168.2.134", 9559);
naoMotion = new MotionProxy("127.0.0.1", 9559);
Console.WriteLine("MotionProxy connecté");
//naoPosture = new RobotPostureProxy("192.168.2.134", 9559);
naoPosture = new RobotPostureProxy("127.0.0.1", 9559);
Console.WriteLine("RobotPostureProxy connecté");
Console.WriteLine("CONN terminé");
}
else Console.WriteLine("Déjà connecté");
break;
}
case "INIT":
{
if (naoTts != null && naoMotion != null && naoPosture != null)
{
naoMotion.setStiffnesses("Body", 1f);
if (naoPosture.goToPosture("StandZero", 1f))
naoTts.say("Initialisation terminée");
Console.WriteLine("Initialisation terminée");
}
else Console.WriteLine("CONN nécessaire avant INIT");
break;
}
case "TALK":
{
if (commande.Length > 1)
{
naoTts.say(commande[1]);
Console.WriteLine("NAO TextToSpeechProxy : {0}", commande[1]);
}
break;
}
case "STIF":
{
if(commande.Length > 1)
{
try
{
naoMotion.setStiffnesses("Body", float.Parse(commande[1]));
}
catch(Exception e)
{
Diffuser(this, "MSGA", "La commande STIF requiert un parametre valide");
}
}
else
{
Diffuser(this, "MSGA", "La commande STIF requiert un parametre");
}
break;
}
case "POST":
{
if(commande.Length == 2)
{
try
{
naoPosture.goToPosture(commande[1], 1f);
}
catch(Exception)
{
Diffuser(this, "MSGA", "Argument du POST invalide");
}
}
else
{
Diffuser(this, "MSGA", "POST requiert un argument");
}
break;
}
case "MOVE":
{
if(commande[1] != null)
{
string[] args = commande[1].Split('!');
args = args.Select(x => x.Replace(".", ",")).ToArray();
if(args.Length > 1)
{
string joint = args[0];
float angle = 0;
float.TryParse(args[1], out angle);
float vitesse = 0.1f;
try
{
naoMotion.setAngles(joint, angle, vitesse);
}
catch(Exception e)
{
Console.WriteLine(e);
}
}
}
break;
}
case "TEST":
{
if (commande.Length > 1)
{
string[] args = commande[1].Split('!');
args = args.Select(x => x.Replace(".", ",")).ToArray();
if (args.Length > 6)
{
string chainName = args[0];
int space = 0;
float[] position = {
float.Parse(args[1]),
float.Parse(args[2]),
float.Parse(args[3]),
float.Parse(args[4]),
float.Parse(args[5]),
float.Parse(args[6]),
};
int axisMask = 63;
naoMotion.setPosition(chainName, space, position.ToList<float>(), 0.4f, axisMask);
}
}
break;
}
case "RGHT":
{
if (commande.Length > 1)
{
string[] args = commande[1].Split('!');
args = args.Select(x => x.Replace(".", ",")).ToArray();
if (args.Length > 2)
{
float[] position = {
float.Parse(args[0]),
float.Parse(args[1]),
float.Parse(args[2]),
0f,
0f,
0f
};
float[] currPosition = naoMotion.getPosition("RArm",0,true).ToArray();
float[] deltaPosition = new float[6];
for(int i = 0; i < 6; i++)
{
deltaPosition[i] = (position[i] - currPosition[i]) / 10;
}
Diffuser(this, "MSGA", message);
naoMotion.changePosition("RArm", 0, position.ToList<float>(), 0.8f, 63);
}
}
break;
}
default:
{
Erreur("Commande non implémenté sur le serveur");
break;
}
}
}
Console.WriteLine(this.nick + " vient de se deconnecter");
// on se retire soi-même de la liste;
RetirerClient(this);
//on ferme les socket et les streams
Fermerconnexion();
//le thread va mourrir... sniff sniff
}
public void task()
{
this.Background = new SolidColorBrush(Colors.LightBlue);
motion = new MotionProxy(ip, port);
tts = new TextToSpeechProxy(ip, port);
bezierMotion = new Bezier(ip, port);
string filename = "Task1--" + DateTime.Now.ToString("MM-dd-hh-mm") + ".txt";
logfile = new Log(filename, "Task 1 -- Thinking");
logfile.logCondition(condition);
try
{
gazeControl = new GazeControl(ip, port);
//The file should be in the output box
kinect = new KinectAudio("XMLs\\Thinking_Grammar.xml", ip, port);
}
catch (IOException)
{
Console.WriteLine("Kinect Not Connected");
}
taskThread = new Thread(new ThreadStart(startTask));
end = false;
taskThread.Start();
}
static void Main(string[] args)
{
TextToSpeechProxy tts = new TextToSpeechProxy("<IP OF YOUR ROBOT>", 9559);
tts.say("Hello World");
}
/*XboxController cuntroller;
*
* void button_pressed(object sender, XboxControllerStateChangedEventArgs e)
* {
* if(cuntroller.IsAPressed)
* Console.WriteLine();
* }*/
static void Main(string[] args)
{
//cuntroller = XboxController.RetrieveController(0);
//cuntroller.StateChanged += button_pressed;
string IP = "192.168.0.1";
//string IP = "169.254.226.148";
//string IP = "127.0.0.1";
int port = 9559;
/*List<float> RAngle = new List<float>{-0.4662941f, -0.4632261f, -0.558418f, 1.326952f, -0.628898f, 0.3977605f};
* List<float> LAngle = new List<float> { -0.4662941f, 0.009245962f, -0.866668f, 0.6427041f, 0.371186f, -0.07205604f };
* List<float> LLeg = new List<float> { -0.02143404f, 0.02765396f, -1.53589f, -0.09232792f, 0.233126f, -0.01683204f };*/
//ARE THE ROTATIONS IN RADIANS?
List <float> RLeg = new List <float> {
-0.461692f, -0.5092461f, -0.208666f, 0.6903419f, -0.21932f, 0.3977605f
};
List <float> LLeg = new List <float> {
-0.461692f, 0.174918f, -0.400332f, 0.57214f, 0.118076f, -0.147222f
};
List <float> RArm = new List <float> {
0.22554f, 0.151824f, 1.17807f, 1.544616f, 1.263974f, 0.322f
};
List <float> LArm = new List <float> {
0.4463521f, -0.280764f, -1.075376f, -1.544616f, -0.736362f, 0.3216f
};
List <float> LPunch = new List <float> {
-0.190258f, -0.05679996f, 0.191708f, -0.16563f, -0.44797f, 0.3216f
};
List <float> RPunch = new List <float> {
-0.02296804f, 0.3141593f, -0.85448f, 0.04299396f, -0.05373196f, 0.03f
};
List <float> RHookA = new List <float> {
0.162646f, -1.16128f, 0.294486f, 1.5141f, 0.277612f, 0.2f
};
List <float> RHookB = new List <float> {
-0.27301f, 0.3141593f, 0.200912f, 0.259288f, -1.127532f, 0.1996f
};
List <float> RHookL = new List <float> {
-0.27301f, 0.3141593f, 0.200912f, 0.259288f, -1.127532f, 0.1996f
};
List <float> LHookA = new List <float> {
0.8329201f, 1.233294f, -1.112192f, -1.524754f, 0.004560038f, 0.3216f
};
List <float> LHookB = new List <float> {
-0.23321f, -0.21787f, -0.467912f, -0.122678f, 0.38039f, 0.3216f
};
List <float> LuA = new List <float> {
1.246329f, -0.2638353f, -1.11164f, -1.202817f, -1.6675f, 0.3252f
};
List <float> LuB = new List <float> {
0.08279404f, -0.29457f, -1.247184f, -0.8221821f, -1.810162f, 0.3256f
};
List <float> STimeA = new List <float> {
.1f, .1f, .1f, .1f, .1f, .1f
};
List <float> RTimeA = new List <float> {
.3f, .3f, .3f, .3f, .3f, .3f
};
List <float> LTimeA = new List <float> {
.7f, .7f, .7f, .7f, .7f, .7f
};
List <float> LDrop = new List <float> {
-0.05986796f, -0.285366f, -1.807094f, -0.16563f, -1.241048f, 0.4088f
};
List <float> RDrop = new List <float> {
-0.07359004f, 0.06592004f, 1.360616f, 0.09975196f, 1.056884f, 0.3212f
};
List <float> Rsmash = new List <float> {
-0.66418f, 0.231592f, 1.518618f, 0.07520796f, 1.245566f, 0.3224f
};
List <float> Lsmash = new List <float> {
-0.64739f, -0.3141593f, -1.40672f, -0.03490658f, -0.85448f, 1f
};
List <float> ROut = new List <float> {
0.57836f, -1.303942f, 1.958876f, 0.09668396f, 0.6319661f, 0.3224f
};
List <float> LOut = new List <float> {
0.7654241f, 1.156594f, -2.00498f, -0.118076f, -0.730226f, 0.322f
};
GamePadState cs;
GamePadState ps = new GamePadState();
Boolean upper = false;
Boolean hook = false;
Boolean jab = false;
Boolean high = false;
Random random = new Random();
int rNum = 0;
TextToSpeechProxy tts = new TextToSpeechProxy(IP, port);
MotionProxy motion = new MotionProxy(IP, port);
RobotPostureProxy pos = new RobotPostureProxy(IP, port);
LedsProxy led = new LedsProxy(IP, port);
Console.WriteLine("hello");
motion.setStiffnesses("Body", 1.0f);
//pos.goToPosture("Sit", 1.0f);
pos.goToPosture("Stand", 1.0f);
//pos.goToPosture("StandZero", 1f);
pos.stopMove();
motion.setWalkArmsEnable(false, false);
//motion.walkInit();
motion.post.setAngles("RArm", RArm, 0.2f);
motion.setAngles("LArm", LArm, 0.2f);
motion.post.angleInterpolation("RLeg", RLeg, new List <float> {
1.5f, 1.5f, 1f, 1f, 1f, 1f
}, true);
motion.post.angleInterpolation("LLeg", LLeg, new List <float> {
1f, 1f, 1f, 1f, 1f, 1f
}, true);
//motion.post.setAngles("RLeg", RLeg, 0.1f);
//motion.setAngles("LLeg", LLeg, 0.1f);
//Console.ReadKey();
Console.WriteLine();
//motion.setAngles("LLeg", LLeg, 0.2f);
//motion.setStiffnesses("Body", 0.0f);
Console.WriteLine("Set Stiffness");
string enter = null;// = Console.ReadLine().ToLower();
#region GAMELOOP
cs = GamePad.GetState(PlayerIndex.One);
while (cs.Buttons.Start != ButtonState.Pressed)
{
cs = GamePad.GetState(PlayerIndex.One);
if (!cs.IsConnected)
{
Console.WriteLine("Cuntroller ain't connected");
}
#region DEVTOOLS
if (enter == "stiff")
{
motion.setStiffnesses("Body", 0.5f);
//motion.setStiffnesses("RArm", 0.1f);
//motion.setStiffnesses("LArm", 0.1f);
}
if (enter == "unstiff")
{
//motion.setStiffnesses("Body", 0.0f);
motion.setStiffnesses("RLeg", 0.0f);
//motion.setStiffnesses("LArm", 0.0f);
}
if (enter == "cool")
{
motion.setStiffnesses("Body", 0.0f);
}
if (enter == "RLeg")
{
foreach (float x in motion.getAngles("RLeg", false))
{
Console.Write("{0}f, ", x);
}
}
if (enter == "LLeg")
{
foreach (float x in motion.getAngles("LLeg", false))
{
Console.Write("{0}f, ", x);
}
}
if (enter == "RArm")
{
foreach (float x in motion.getAngles("RArm", false))
{
Console.Write("{0}f, ", x);
}
}
if (enter == "LArm")
{
foreach (float x in motion.getAngles("LArm", false))
{
Console.Write("{0}f, ", x);
}
}
#endregion
#region POSTURES
//POSITION BLOCKS
if (enter == "b")
{
motion.setAngles("LArm", LArm, 0.2f);
motion.setAngles("RArm", RArm, 0.2f);
}
if (cs.Buttons.Back == ButtonState.Pressed && ps.Buttons.Back != cs.Buttons.Back)
{
pos.goToPosture("Sit", .5f);
motion.setStiffnesses("Body", 0.0f);
}
if (cs.Buttons.LeftStick == ButtonState.Pressed && ps.Buttons.LeftStick != cs.Buttons.LeftStick)
{
//tts.post.say("No one makes me bleed my own blood");
motion.stopMove();
motion.moveInit();
//pos.goToPosture("Stand", .8f);
//pos.stopMove();
motion.post.angleInterpolation("RLeg", RLeg, new List <float> {
1.5f, 1.5f, 1f, 1f, 1f, 1f
}, true);
motion.post.angleInterpolation("LLeg", LLeg, new List <float> {
1f, 1f, 1f, 1f, 1f, 1f
}, true);
motion.angleInterpolation("RArm", RArm, RTimeA, true);
motion.angleInterpolation("LArm", LArm, RTimeA, true);
}
#endregion
#region COMBAT
//COMBAT BLOCKS
if (cs.Buttons.A == ButtonState.Pressed && ps.Buttons.A != cs.Buttons.A)
{
upper = false;
hook = false;
jab = true;
high = false;
}
if (cs.Buttons.B == ButtonState.Pressed && ps.Buttons.B != cs.Buttons.B)
{
upper = true;
hook = false;
jab = false;
high = false;
}
if (cs.Buttons.X == ButtonState.Pressed && ps.Buttons.X != cs.Buttons.X)
{
upper = false;
hook = true;
jab = false;
high = false;
}
if (cs.Buttons.Y == ButtonState.Pressed && ps.Buttons.Y != cs.Buttons.Y)
{
upper = false;
hook = false;
jab = false;
high = true;
}
if (cs.Triggers.Left != 0 && jab)
{
//Console.WriteLine("lt pressed");
motion.angleInterpolation("LArm", LPunch, RTimeA, true);
motion.angleInterpolation("RArm", RArm, RTimeA, true);
motion.angleInterpolation("LArm", LArm, RTimeA, true);
//motion.post.setAngles("RArm", RPunch, 0.5f);
ps = cs;
}
if (cs.Triggers.Right != 0 && jab)
{
motion.post.angleInterpolation("RArm", RPunch, RTimeA, true);
motion.angleInterpolation("RArm", RArm, RTimeA, true);
motion.angleInterpolation("LArm", LArm, RTimeA, true);
}
if (cs.Triggers.Right != 0 && hook)
{
//motion.post.setAngles("RArm", RHookA, 0.3f);
// motion.angleInterpolation("RLeg", RHookL, RTimeA, true);
motion.angleInterpolation("RArm", RHookA, RTimeA, true);
motion.angleInterpolation("RArm", RHookB, RTimeA, true);
//motion.angleInterpolation("RLeg", RLeg, RTimeA, true);
motion.angleInterpolation("RArm", RArm, RTimeA, true);
motion.angleInterpolation("LArm", LArm, RTimeA, true);
}
if (cs.Triggers.Left != 0 && hook)
{
//motion.post.setAngles("RArm", RHookA, 0.3f);
motion.angleInterpolation("LArm", LHookA, RTimeA, true);
motion.angleInterpolation("LArm", LHookB, RTimeA, true);
motion.angleInterpolation("RArm", RArm, RTimeA, true);
motion.angleInterpolation("LArm", LArm, RTimeA, true);
}
if ((cs.Triggers.Right != 0 || cs.Triggers.Left != 0) && upper)
{
//motion.post.setAngles("RArm", RHookA, 0.3f);
motion.angleInterpolation("LArm", LuA, RTimeA, true);
motion.angleInterpolation("LArm", LuB, RTimeA, true);
motion.angleInterpolation("RArm", RArm, RTimeA, true);
motion.angleInterpolation("LArm", LArm, RTimeA, true);
}
if (cs.Buttons.RightShoulder == ButtonState.Pressed && ps.Buttons.RightShoulder != cs.Buttons.RightShoulder)
{
//motion.post.setAngles("RArm", RHookA, 0.3f);
motion.post.angleInterpolation("LArm", LDrop, RTimeA, true);
motion.angleInterpolation("RArm", RDrop, RTimeA, true);
motion.post.angleInterpolation("RArm", RArm, RTimeA, true);
motion.angleInterpolation("LArm", LArm, RTimeA, true);
}
if (cs.Buttons.LeftShoulder == ButtonState.Pressed && ps.Buttons.LeftShoulder != cs.Buttons.LeftShoulder)
{
//motion.post.setAngles("RArm", RHookA, 0.3f);
motion.post.angleInterpolation("LArm", LOut, RTimeA, true);
motion.angleInterpolation("RArm", ROut, RTimeA, true);
motion.post.angleInterpolation("LArm", LDrop, RTimeA, true);
motion.angleInterpolation("RArm", RDrop, RTimeA, true);
motion.post.angleInterpolation("RArm", RArm, RTimeA, true);
motion.angleInterpolation("LArm", LArm, RTimeA, true);
}
if (cs.Triggers.Left != 0 && high)
{
motion.angleInterpolation("LArm", Lsmash, RTimeA, true);
motion.angleInterpolation("LArm", LDrop, RTimeA, true);
motion.angleInterpolation("RArm", RArm, RTimeA, true);
motion.angleInterpolation("LArm", LArm, RTimeA, true);
//motion.post.setAngles("RArm", RPunch, 0.5f);
}
if (cs.Triggers.Right != 0 && high)
{
motion.angleInterpolation("RArm", Rsmash, RTimeA, true);
motion.angleInterpolation("RArm", RDrop, RTimeA, true);
motion.angleInterpolation("RArm", RArm, RTimeA, true);
motion.angleInterpolation("LArm", LArm, RTimeA, true);
}
#endregion
#region MOVEMMENT
//MOVEMENT BLOCKS
if (enter == "walk")
{
motion.moveInit();
motion.move(3f, 0f, 0f);
Console.ReadKey();
motion.stopMove();
motion.post.angleInterpolation("RLeg", RLeg, new List <float> {
1.5f, 1.5f, 1f, 1f, 1f, 1f
}, true);
motion.post.angleInterpolation("LLeg", LLeg, new List <float> {
1f, 1f, 1f, 1f, 1f, 1f
}, true);
}
if (cs.ThumbSticks.Left.Y > .8)
{
if (ps.ThumbSticks.Left.Y <= 0)
{
motion.stopMove();
}
if (ps.ThumbSticks.Left.Y == 0)
{
motion.moveInit();
}
motion.move(.1f, 0f, 0f);
//motion.post.angleInterpolation("RLeg", RLeg, new List<float> { 1.5f, 1.5f, 1f, 1f, 1f, 1f }, true);
//motion.post.angleInterpolation("LLeg", LLeg, new List<float> { 1f, 1f, 1f, 1f, 1f, 1f }, true);
}
if (cs.ThumbSticks.Left.Y < -.8)
{
if (ps.ThumbSticks.Left.Y >= 0)
{
motion.stopMove();
}
if (ps.ThumbSticks.Left.Y == 0)
{
motion.moveInit();
}
motion.move(-.15f, 0f, 0f);
//motion.post.angleInterpolation("RLeg", RLeg, new List<float> { 1.5f, 1.5f, 1f, 1f, 1f, 1f }, true);
//motion.post.angleInterpolation("LLeg", LLeg, new List<float> { 1f, 1f, 1f, 1f, 1f, 1f }, true);
}
if (cs.ThumbSticks.Left.X > .8)
{
Console.WriteLine(cs.ThumbSticks.Left.X);
if (ps.ThumbSticks.Left.X <= 0)
{
motion.stopMove();
}
if (ps.ThumbSticks.Left.X == 0)
{
motion.moveInit();
}
motion.move(0f, -.15f, 0f);
//motion.post.angleInterpolation("RLeg", RLeg, new List<float> { 1.5f, 1.5f, 1f, 1f, 1f, 1f }, true);
//motion.post.angleInterpolation("LLeg", LLeg, new List<float> { 1f, 1f, 1f, 1f, 1f, 1f }, true);
}
if (cs.ThumbSticks.Left.X < -.8)
{
if (ps.ThumbSticks.Left.X >= 0)
{
motion.stopMove();
}
if (ps.ThumbSticks.Left.X == 0)
{
motion.moveInit();
}
motion.move(0f, .15f, 0f);
//motion.post.angleInterpolation("RLeg", RLeg, new List<float> { 1.5f, 1.5f, 1f, 1f, 1f, 1f }, true);
//motion.post.angleInterpolation("LLeg", LLeg, new List<float> { 1f, 1f, 1f, 1f, 1f, 1f }, true);
}
if ((cs.ThumbSticks.Left.Y == 0 && ps.ThumbSticks.Left.Y != 0) || (cs.ThumbSticks.Left.X == 0 && ps.ThumbSticks.Left.X != 0))
{
motion.stopMove();
}
if (cs.ThumbSticks.Right.X < -.75)
{
if (ps.ThumbSticks.Right.X >= 0)
{
motion.stopMove();
motion.moveInit();
}
motion.move(0f, 0f, .3f);
}
if (cs.ThumbSticks.Right.X > .75)
{
if (ps.ThumbSticks.Right.X <= 0)
{
motion.stopMove();
motion.moveInit();
}
motion.move(0f, 0f, -.3f);
}
if (cs.ThumbSticks.Right.X == 0 && ps.ThumbSticks.Right.X != 0)
{
motion.stopMove();
}
if (cs.DPad.Up == ButtonState.Pressed && ps.DPad.Up != cs.DPad.Up)
{
//tts.post.say("No one makes me bleed my own blood");
motion.stopMove();
motion.moveInit();
pos.goToPosture("Stand", .8f);
pos.stopMove();
}
if (cs.DPad.Right == ButtonState.Pressed && ps.DPad.Right != cs.DPad.Right)
{
//tts.post.say("No one makes me bleed my own blood");
motion.setWalkArmsEnabled(true, true);
}
if (cs.DPad.Left == ButtonState.Pressed && ps.DPad.Left != cs.DPad.Left)
{
//tts.post.say("No one makes me bleed my own blood");
motion.angleInterpolation("RArm", RArm, RTimeA, true);
motion.angleInterpolation("LArm", LArm, RTimeA, true);
}
#endregion
#region TRASHTALKING
if (cs.Buttons.RightStick == ButtonState.Pressed && ps.Buttons.RightStick != cs.Buttons.RightStick)
{
led.post.rasta(5f);
rNum = random.Next(0, 14);
switch (rNum)
{
case 0:
tts.post.say("I'm going to put my hard drive in your floopy disk");
break;
case 1:
tts.post.say("I will haunt your dreams, fool. See you tonite.");
break;
case 2:
tts.post.say("Mess with us and we will dismember you");
break;
case 3:
tts.post.say("Everyone Must Die!!!!");
break;
case 4:
tts.post.say("FOOLS");
break;
case 5:
tts.post.say("Meow");
break;
case 6:
tts.post.say("DIE");
break;
case 7:
tts.post.say("Hi I'm Catbug");
break;
case 8:
tts.post.say("I'll bash yer head in, I swear on my mum");
break;
case 9:
tts.post.say("I am I Robot");
break;
case 10:
tts.post.say("Rawr");
break;
case 11:
tts.post.say("Gas Powered Stick");
break;
case 12:
tts.post.say("Locally Grown Butter Lettuce. Butter Lettuce PARTY");
break;
case 13:
tts.post.say("Cake and grief counseling will be available after the fight.");
break;
}
}
#endregion
//Console.Write("\n");
//Console.WriteLine(motion.getAngles("RArm", false));
//enter = Console.ReadLine();
ps = cs;
}
#endregion
}
public void speak(String context)
{
tts = new TextToSpeechProxy("128.208.4.225", 9559);
tts.say(context);
}
static void Main(string[] args)
{
TextToSpeechProxy tts = new TextToSpeechProxy("192.168.100.4", 9559);
tts.say("Koko");
}
private void Button_Click_1(object sender, RoutedEventArgs e)
{
//Initialize the motion proxy using the text in the ipBox
MotionProxy mp = new MotionProxy(ipBox.Text, 9559);
//Initialize the text to speech proxy using the text in the ipBox
ttsp = new TextToSpeechProxy(ipBox.Text, 9559);
//Initialize the robots posture proxy using the text in the ipBox
RobotPostureProxy rpp = new RobotPostureProxy(ipBox.Text, 9559);
//Wakes the robot up, tells the robot to stand and say hello
mp.wakeUp();
rpp.goToPosture("StandInit", .5f);
ttsp.say("Hola");
//Sets up lighting of the camera with a white color and directs it in the appropriate direction
DirectionalLight DirLight1 = new DirectionalLight();
DirLight1.Color = Colors.White;
DirLight1.Direction = new Vector3D(1, 1, 1);
//Setting up the camera so that the picture we see is in a good position
PerspectiveCamera Camera1 = new PerspectiveCamera();
Camera1.FarPlaneDistance = 16000;
Camera1.NearPlaneDistance = 10;
//Zoomed in with a 45 degree field of view
Camera1.FieldOfView = 45;
//50 mm away from the point cloud and centered in the middle
Camera1.Position = new Point3D(320, 240, -50);
//Flips the camera so that we see everything right side up
Camera1.LookDirection = new Vector3D(0, 0, 1);
Camera1.UpDirection = new Vector3D(0, -1, 0);
//Creates a new model 3D group to hold the sets of 3D models
Model3DGroup modelGroup = new Model3DGroup();
//builds the 3D model
int i = 0;
for (int y = 0; y < 480; y += pointDen)
{
for (int x = 0; x < 640; x += pointDen)
{
points[i] = Triangle(x, y, pointDen);
points[i].Transform = new TranslateTransform3D(0, 0, 0);
modelGroup.Children.Add(points[i]);
i++;
}
}
//Adds the directional light to the model group
modelGroup.Children.Add(DirLight1);
ModelVisual3D modelsVisual = new ModelVisual3D();
modelsVisual.Content = modelGroup;
Viewport3D myViewport = new Viewport3D();
myViewport.IsHitTestVisible = false;
myViewport.Camera = Camera1;
myViewport.Children.Add(modelsVisual);
canvas1.Children.Add(myViewport);
myViewport.Height = canvas1.Height;
myViewport.Width = canvas1.Width;
Canvas.SetTop(myViewport, 0);
Canvas.SetLeft(myViewport, 0);
sensor = KinectSensor.KinectSensors[0];
sensor.DepthStream.Enable(DepthImageFormat.Resolution640x480Fps30);
sensor.DepthFrameReady += DepthFrameReady;
sensor.Start();
}