public ControlWindow()
{
InitializeComponent();
servoManager = new ServoManager(servoConfigFileName);
servoManager.ConnectToHardware();
UpdateConnectedTextblock(servoManager.IsConnected(), servoHardwareState);
ariaManager = new AriaManager();
ariaManager.InitializeAria();
UpdateConnectedTextblock(ariaManager.IsConnected(), ariaHardwareState);
robotSpeech = new RobotSpeech(servoManager);
robotEyes = new RobotEyes();
robotEyes.InitializeHardware();
personTracking = new PersonTracking(servoManager, ariaManager);
sequenceProcessor = new SequenceProcessor(servoManager, ariaManager, robotSpeech, robotEyes, sequenceFileName);
kinectManager = new KinectManager(sequenceProcessor, personTracking, robotSpeech);
kinectManager.InitializeKinect();
UpdateConnectedTextblock(kinectManager.IsConnected(), kinectHardwareState);
UpdateMotionEnabledDisplay();
logUpdateTimer.Tick += new EventHandler(logUpdateTimer_Tick);
logUpdateTimer.Interval = new TimeSpan(0, 0, 0, 0, 500);
logUpdateTimer.Start();
}
public ControlWindow()
{
InitializeComponent();
servoManager = new ServoManager(servoConfigFileName);
servoManager.ConnectToHardware();
UpdateConnectedTextblock(servoManager.IsConnected(), servoHardwareState);
ariaManager = new AriaManager();
ariaManager.InitializeAria();
UpdateConnectedTextblock(ariaManager.IsConnected(), ariaHardwareState);
robotSpeech = new RobotSpeech(servoManager);
robotEyes = new RobotEyes();
robotEyes.InitializeHardware();
personTracking = new PersonTracking(servoManager, ariaManager);
sequenceProcessor = new SequenceProcessor(servoManager, ariaManager, robotSpeech, robotEyes, sequenceFileName);
kinectManager = new KinectManager(sequenceProcessor, personTracking, robotSpeech);
kinectManager.InitializeKinect();
UpdateConnectedTextblock(kinectManager.IsConnected(), kinectHardwareState);
UpdateMotionEnabledDisplay();
logUpdateTimer.Tick += new EventHandler(logUpdateTimer_Tick);
logUpdateTimer.Interval = new TimeSpan(0, 0, 0, 0, 500);
logUpdateTimer.Start();
}
public SequenceProcessor(ServoManager servoManager, AriaManager ariaManager, RobotSpeech robotSpeech, RobotEyes robotEyes, string sequenceFileName)
{
this.servoManager = servoManager;
this.ariaManager = ariaManager;
this.robotSpeech = robotSpeech;
this.robotEyes = robotEyes;
sequenceList = new SequenceList(sequenceFileName);
}
public PersonTracking(ServoManager servoManager, AriaManager ariaManager)
{
this.servoManager = servoManager;
this.ariaManager = ariaManager;
wheelWatchdogTimer.AutoReset = false;
wheelWatchdogTimer.Elapsed += OnWheelWatchdogTimerEvent;
}
public PersonTracking(ServoManager servoManager, AriaManager ariaManager)
{
this.servoManager = servoManager;
this.ariaManager = ariaManager;
wheelWatchdogTimer.AutoReset = false;
wheelWatchdogTimer.Elapsed += OnWheelWatchdogTimerEvent;
}
public RobotSpeech(ServoManager servoManager)
{
this.servoManager = servoManager;
mouthServoIndex = servoManager.GetServoIndex("Mouth open/close");
speechSynthesizer.SelectVoice(speechSynthesizer.GetInstalledVoices().Where(i => i.Enabled && i.VoiceInfo.Gender == VoiceGender.Female).First().VoiceInfo.Name);
speechSynthesizer.Rate = 0;
Thread speechAnimationThread = new Thread(new ThreadStart(SpeechAnimationThread));
speechAnimationThread.IsBackground = true;
speechAnimationThread.Start();
speechSynthesizer.StateChanged += StateChanged;
}
public ControlWindow()
{
InitializeComponent();
servoManager = new ServoManager(servoConfigFileName);
servoManager.ConnectToHardware();
UpdateConnectedTextblock(servoManager.IsConnected(), servoHardwareState);
sequenceProcessor = new SequenceProcessor(servoManager, sequenceFileName);
kinectManager = new KinectManager(sequenceProcessor);
kinectManager.InitializeKinect();
UpdateConnectedTextblock(kinectManager.IsConnected(), kinectHardwareState);
logUpdateTimer.Tick += new EventHandler(logUpdateTimer_Tick);
logUpdateTimer.Interval = new TimeSpan(0, 0, 0, 0, 500);
logUpdateTimer.Start();
}
public ControlWindow()
{
InitializeComponent();
servoManager = new ServoManager(servoConfigFileName);
servoManager.ConnectToHardware();
UpdateConnectedTextblock(servoManager.IsConnected(), servoHardwareState);
sequenceProcessor = new SequenceProcessor(servoManager, sequenceFileName);
kinectManager = new KinectManager(sequenceProcessor);
kinectManager.InitializeKinect();
UpdateConnectedTextblock(kinectManager.IsConnected(), kinectHardwareState);
logUpdateTimer.Tick += new EventHandler(logUpdateTimer_Tick);
logUpdateTimer.Interval = new TimeSpan(0, 0, 0, 0, 500);
logUpdateTimer.Start();
}
public SequenceProcessor(ServoManager servoManager, string sequenceFileName)
{
this.servoManager = servoManager;
sequenceList = new SequenceList(sequenceFileName);
}
private void button1_Click(object sender, RoutedEventArgs e)
{
ServoManager servoManager = new ServoManager();
servoManager.AddServo(new Servo(1));
servoManager.AddServo(new Servo(2));
servoManager.AddServo(new Servo(3));
servoManager.GenerateExampleConfigFile("ExampleConfig.xml");
SequenceProcessor sequenceProcessor = new SequenceProcessor(servoManager);
// Create test sequence 1.
Sequence testSequence = new Sequence("Sequence 1");
Frame frame1 = new Frame("Frame 1");
frame1.AddServoPosition(new ServoPosition(1, 100));
frame1.AddServoPosition(new ServoPosition(2, 200));
frame1.AddServoPosition(new ServoPosition(3, 300));
Frame frame2 = new Frame("Frame 2");
frame2.AddServoPosition(new ServoPosition(1, 400));
frame2.AddServoPosition(new ServoPosition(2, 500));
frame2.AddServoPosition(new ServoPosition(3, 600));
testSequence.AddFrame(frame1);
testSequence.AddFrame(frame2);
// Create test sequence 2.
Sequence testSequence2 = new Sequence("Sequence 2");
Frame frame3 = new Frame("Frame 3");
frame3.AddServoPosition(new ServoPosition(1, 900));
frame3.AddServoPosition(new ServoPosition(2, 800));
frame3.AddServoPosition(new ServoPosition(3, 700));
Frame frame4 = new Frame("Frame 4");
frame4.AddServoPosition(new ServoPosition(1, 600));
frame4.AddServoPosition(new ServoPosition(2, 500));
frame4.AddServoPosition(new ServoPosition(3, 400));
testSequence2.AddFrame(frame3);
testSequence2.AddFrame(frame4);
SequenceList sequenceList = new SequenceList();
sequenceList.AddSequence(testSequence);
sequenceList.AddSequence(testSequence2);
sequenceList.SaveToXml("SequenceList.xml");
SequenceList sequenceList2 = new SequenceList();
sequenceList2.LoadFromXml("SequenceList.xml");
//sequenceProcessor.RunSequence(testSequence);
}
public SequenceProcessor(ServoManager servoManager, string sequenceFileName)
{
this.servoManager = servoManager;
sequenceList = new SequenceList(sequenceFileName);
}
