public HAL9000Brain()
{
this.isAware = false;
this.currentRoom = "unknown";
this.currentRegion = "unknown";
this.currentLocation = "unknown";
this.knownPersons = new SortedList<string, Person>();
this.knownRooms = new SortedList<string, string>();
this.knownRegions = new SortedList<string, string>();
this.knownLocations = new SortedList<string, string>();
this.knownObjects = new SortedList<string, PhysicalObject>();
this.languageProcessor = new NaturalLanguageProcessor(this);
this.actionsToPerform = new List<SentenceImperative>();
this.recognizedSentences = new Queue<string>();
this.lastRecoGestures = new Queue<Gesture>();
this.lastPersonFallDetected = new Queue<string>();
this.sensorLectures = new Queue<string>();
this.validRoomsFile = "ValidRooms.txt";
this.validNamesFile = "ValidNames.txt";
this.knownObjectsFile = "KnownObjects.txt";
this.world = new World();
this.foundHumans = new List<string>();
this.currentRoomSharedVar = new StringSharedVariable("robotRoom");
this.currentRegionSharedVar = new StringSharedVariable("robotRegion");
this.currentLocationSharedVar = new StringSharedVariable("robotLocation");
this.gestureSharedVariable = new StringSharedVariable("gesture");
this.recogSpeechsSharedVar = new RecognizedSpeechSharedVariable("recognizedSpeech");
this.skeletonsSharedVariable = new StringSharedVariable("hf_skeletons");
this.nearestObjForLocDirection = new DoubleSharedVariable("mp_objforloc");
this.svInGoorRegionForLoc = new IntSharedVariable("mp_ingoodregion");
this.cell_phoneSharedVariable = new StringSharedVariable("cell_phone");
this.fallSharedVariable = new StringSharedVariable("positionhumanfall");
this.sensorsSharedVariable = new StringSharedVariable("home_sensors");
this.isSuscribedToGestureVar = false;
this.isSuscribedToLocationVar = false;
this.isSuscribedToRegionVar = false;
this.isSuscribedToRoomVar = false;
this.isSuscribedToRecoSpeechs = false;
this.isSuscribedToSkeletons = false;
this.isSuscribedToNearesObjForLoc = false;
this.isSuscribedToInGoodRegion = false;
this.isSuscribedToCellphone = false;
this.isSuscribedToFall = false;
this.isSuscribedToHomeSensors = false;
this.status = new HAL9000Status();
this.status.BrainWaveType = BrainWaveType.Alpha;
this.cmdMan = new HAL9000CmdMan(this.status);
this.cnnMan = new ConnectionManager("ACT-PLN", 2025, this.cmdMan);
this.cnnMan.ClientConnected += new System.Net.Sockets.TcpClientConnectedEventHandler(cnnMan_ClientConnected);
this.cnnMan.ClientDisconnected += new System.Net.Sockets.TcpClientDisconnectedEventHandler(cnnMan_ClientDisconnected);
this.cnnMan.DataReceived += new ConnectionManagerDataReceivedEH(cnnMan_DataReceived);
this.cmdMan.SharedVariablesLoaded += new SharedVariablesLoadedEventHandler(cmdMan_SharedVariablesLoaded);
this.SetupCommandExecuters();
this.cnnMan.Start();
this.cmdMan.Start();
}
private void SuscribeToSharedVars()
{
if (!this.isSuscribedToGestureVar)
{
try
{
if (!this.cmdMan.SharedVariables.Contains(this.gestureSharedVariable.Name))
this.cmdMan.SharedVariables.Add(this.gestureSharedVariable);
else this.gestureSharedVariable = (StringSharedVariable)this.cmdMan.SharedVariables[this.gestureSharedVariable.Name];
this.gestureSharedVariable.Subscribe(SharedVariableReportType.SendContent, SharedVariableSubscriptionType.WriteOthers);
this.gestureSharedVariable.WriteNotification += new SharedVariableSubscriptionReportEventHadler<string>(gestureSharedVariable_WriteNotification);
TextBoxStreamWriter.DefaultLog.WriteLine("HAL9000.-> Suscribed to gesture variable");
this.status.IsSuscribedToGestureVar = true;
this.isSuscribedToGestureVar = true;
}
catch { TextBoxStreamWriter.DefaultLog.WriteLine("HAL9000.-> Can't suscribe to gesture variable"); }
}
if (!this.isSuscribedToLocationVar)
{
try
{
if (!this.cmdMan.SharedVariables.Contains(this.currentLocationSharedVar.Name))
this.cmdMan.SharedVariables.Add(this.currentLocationSharedVar);
else this.currentLocationSharedVar = (StringSharedVariable)this.cmdMan.SharedVariables[this.currentLocationSharedVar.Name];
this.currentLocationSharedVar.Subscribe(SharedVariableReportType.SendContent, SharedVariableSubscriptionType.WriteOthers);
this.currentLocationSharedVar.WriteNotification += new SharedVariableSubscriptionReportEventHadler<string>(currentLocationSharedVar_WriteNotification);
TextBoxStreamWriter.DefaultLog.WriteLine("HAL9000.-> Suscribed to location variable");
this.status.IsSuscribedToLocationVar = true;
this.isSuscribedToLocationVar = true;
}
catch { TextBoxStreamWriter.DefaultLog.WriteLine("HAL9000.-> Can't suscribe to location variable"); }
}
if (!this.isSuscribedToRegionVar)
{
try
{
if (!this.cmdMan.SharedVariables.Contains(this.currentRegionSharedVar.Name))
this.cmdMan.SharedVariables.Add(this.currentRegionSharedVar);
else this.currentRegionSharedVar = (StringSharedVariable)this.cmdMan.SharedVariables[this.currentRegionSharedVar.Name];
this.currentRegionSharedVar.Subscribe(SharedVariableReportType.SendContent, SharedVariableSubscriptionType.WriteOthers);
this.currentRegionSharedVar.WriteNotification += new SharedVariableSubscriptionReportEventHadler<string>(currentRegionSharedVar_WriteNotification);
TextBoxStreamWriter.DefaultLog.WriteLine("HAL9000.-> Suscribed to region variable");
this.status.IsSuscribedToRegionVar = true;
this.isSuscribedToRegionVar = true;
}
catch { TextBoxStreamWriter.DefaultLog.WriteLine("HAL9000.-> Can't suscribe to region variable"); }
}
if (!this.isSuscribedToRoomVar)
{
try
{
if (!this.cmdMan.SharedVariables.Contains(this.currentRoomSharedVar.Name))
this.cmdMan.SharedVariables.Add(this.currentRoomSharedVar);
else this.currentRoomSharedVar = (StringSharedVariable)this.cmdMan.SharedVariables[this.currentRoomSharedVar.Name];
this.currentRoomSharedVar.Subscribe(SharedVariableReportType.SendContent, SharedVariableSubscriptionType.WriteOthers);
this.currentRoomSharedVar.WriteNotification += new SharedVariableSubscriptionReportEventHadler<string>(currentRoomSharedVar_WriteNotification);
TextBoxStreamWriter.DefaultLog.WriteLine("HAL9000.-> Suscribed to room variable");
this.status.IsSuscribedToRoomVar = true;
this.isSuscribedToRoomVar = true;
}
catch { TextBoxStreamWriter.DefaultLog.WriteLine("HAL9000.-> Can't suscribe to room variable"); }
}
if (!this.isSuscribedToRecoSpeechs)
{
try
{
if (!this.cmdMan.SharedVariables.Contains(this.recogSpeechsSharedVar.Name))
this.cmdMan.SharedVariables.Add(this.recogSpeechsSharedVar);
else
this.recogSpeechsSharedVar = (RecognizedSpeechSharedVariable)this.cmdMan.SharedVariables[this.recogSpeechsSharedVar.Name];
this.recogSpeechsSharedVar.Subscribe(SharedVariableReportType.SendContent, SharedVariableSubscriptionType.WriteOthers);
this.recogSpeechsSharedVar.WriteNotification += new SharedVariableSubscriptionReportEventHadler<Robotics.HAL.Sensors.RecognizedSpeech>(recogSpeechsSharedVar_WriteNotification);
TextBoxStreamWriter.DefaultLog.WriteLine("HAL9000.-> Suscribed to reco speech variable");
this.status.IsSuscribedToRecoSpeechVar = true;
this.isSuscribedToRecoSpeechs = true;
}
catch { TextBoxStreamWriter.DefaultLog.WriteLine("HAL9000.-> Can't suscribe to reco speech variable"); }
}
if (!this.isSuscribedToSkeletons)
{
try
{
if (!this.cmdMan.SharedVariables.Contains(this.skeletonsSharedVariable.Name))
this.cmdMan.SharedVariables.Add(this.skeletonsSharedVariable);
else this.skeletonsSharedVariable = (StringSharedVariable)this.cmdMan.SharedVariables[this.skeletonsSharedVariable.Name];
this.skeletonsSharedVariable.Subscribe(SharedVariableReportType.SendContent, SharedVariableSubscriptionType.WriteOthers);
this.skeletonsSharedVariable.WriteNotification += new SharedVariableSubscriptionReportEventHadler<string>(skeletonsSharedVar_WriteNotification);
TextBoxStreamWriter.DefaultLog.WriteLine("HAL9000.-> Suscribed to skeletons.");
this.status.IsSuscribedToRoomVar = true;
this.isSuscribedToSkeletons = true;
}
catch { TextBoxStreamWriter.DefaultLog.WriteLine("HAL9000.-> Can't suscribe to skeletons variable"); }
}
if (!this.isSuscribedToNearesObjForLoc)
{
try
{
if (!this.cmdMan.SharedVariables.Contains(this.nearestObjForLocDirection.Name))
this.cmdMan.SharedVariables.Add(this.nearestObjForLocDirection);
else this.nearestObjForLocDirection = (DoubleSharedVariable)this.cmdMan.SharedVariables[this.nearestObjForLocDirection.Name];
this.nearestObjForLocDirection.Subscribe(SharedVariableReportType.SendContent, SharedVariableSubscriptionType.WriteOthers);
this.nearestObjForLocDirection.WriteNotification += new SharedVariableSubscriptionReportEventHadler<double>(nearestObjForLocDirection_WriteNotification);
TextBoxStreamWriter.DefaultLog.WriteLine("HAL9000.-> Suscribed to " + this.nearestObjForLocDirection.Name + " shared var");
this.status.IsSuscribedToNearObjForLoc = true;
this.isSuscribedToNearesObjForLoc = true;
}
catch
{
TextBoxStreamWriter.DefaultLog.WriteLine("HAL9000.-> Can't suscribe to " + this.nearestObjForLocDirection.Name + " shared var");
}
}
if (!this.isSuscribedToInGoodRegion)
{
try
{
if (!this.cmdMan.SharedVariables.Contains(this.svInGoorRegionForLoc.Name))
this.cmdMan.SharedVariables.Add(this.svInGoorRegionForLoc);
else this.svInGoorRegionForLoc = (IntSharedVariable)this.cmdMan.SharedVariables[this.svInGoorRegionForLoc.Name];
this.svInGoorRegionForLoc.Subscribe(SharedVariableReportType.SendContent, SharedVariableSubscriptionType.WriteOthers);
this.svInGoorRegionForLoc.WriteNotification += new SharedVariableSubscriptionReportEventHadler<int>(svInGoorRegionForLoc_WriteNotification);
TextBoxStreamWriter.DefaultLog.WriteLine("HAL9000.-> Suscribed to " + this.svInGoorRegionForLoc.Name + " shared var");
this.status.IsSuscribedToInGoodRegion = true;
this.isSuscribedToInGoodRegion = true;
}
catch
{
TextBoxStreamWriter.DefaultLog.WriteLine("HA9000.-> Can't suscribe to " + this.svInGoorRegionForLoc.Name + " shared var");
}
}
if (!this.isSuscribedToCellphone)
{
try
{
if (!this.cmdMan.SharedVariables.Contains(this.cell_phoneSharedVariable.Name))
this.cmdMan.SharedVariables.Add(this.cell_phoneSharedVariable);
else this.cell_phoneSharedVariable = (StringSharedVariable)this.cmdMan.SharedVariables[this.cell_phoneSharedVariable.Name];
this.cell_phoneSharedVariable.Subscribe(SharedVariableReportType.SendContent, SharedVariableSubscriptionType.WriteOthers);
this.cell_phoneSharedVariable.WriteNotification += new SharedVariableSubscriptionReportEventHadler<string>(cellphoneSharedVar_WriteNotification);
TextBoxStreamWriter.DefaultLog.WriteLine("HAL9000.-> Suscribed to Cellphone.");
this.status.IsSuscribedToRoomVar = true;
this.isSuscribedToCellphone = true;
}
catch { TextBoxStreamWriter.DefaultLog.WriteLine("HAL9000.-> Can't suscribe to cellphone variable"); }
}
if (!this.isSuscribedToFall)
{
try
{
if (!this.cmdMan.SharedVariables.Contains(this.fallSharedVariable.Name))
this.cmdMan.SharedVariables.Add(this.fallSharedVariable);
else this.fallSharedVariable = (StringSharedVariable)this.cmdMan.SharedVariables[this.fallSharedVariable.Name];
this.fallSharedVariable.Subscribe(SharedVariableReportType.SendContent, SharedVariableSubscriptionType.WriteOthers);
this.fallSharedVariable.WriteNotification += new SharedVariableSubscriptionReportEventHadler<string>(fallSharedVariable_WriteNotification);
TextBoxStreamWriter.DefaultLog.WriteLine("HAL9000.-> Suscribed to Fall variable.");
this.isSuscribedToFall = true;
}
catch { TextBoxStreamWriter.DefaultLog.WriteLine("HAL9000.-> Can't suscribe to fall variable"); }
}
if (!this.isSuscribedToHomeSensors)
{
try
{
if (!this.cmdMan.SharedVariables.Contains(this.sensorsSharedVariable.Name))
this.cmdMan.SharedVariables.Add(this.sensorsSharedVariable);
else this.sensorsSharedVariable = (StringSharedVariable)this.cmdMan.SharedVariables[this.sensorsSharedVariable.Name];
this.sensorsSharedVariable.Subscribe(SharedVariableReportType.SendContent, SharedVariableSubscriptionType.WriteOthers);
this.sensorsSharedVariable.WriteNotification+=new SharedVariableSubscriptionReportEventHadler<string>(sensorsSharedVariable_WriteNotification);
TextBoxStreamWriter.DefaultLog.WriteLine("HAL9000 -> Subscibed to Home Sensors variable.");
this.isSuscribedToHomeSensors = true;
}
catch
{
TextBoxStreamWriter.DefaultLog.WriteLine("HAL9000 -> Can't subscribe to Home Sensors variable");
}
}
}
/// <summary>
/// Registers an existing variable within the list
/// </summary>
/// <param name="type">The type of the variable to register</param>
/// <param name="isArray">Indicates if the variable is an array</param>
/// <param name="name">The name of the variable to register</param>
/// <param name="data">The data of the variable to register received in the read operation</param>
private bool RegisterVar(string type, bool isArray, string name, string data)
{
SharedVariable variable;
variable = null;
switch (type)
{
case "double":
if (isArray)
{
variable = new DoubleArraySharedVariable(this.owner, name, false);
}
else
{
variable = new DoubleSharedVariable(this.owner, name, false);
}
break;
case "HumanFace":
if (!isArray)
{
variable = new DetectedHumanFaces(this.owner, name, false);
}
break;
case "int":
if (isArray)
{
variable = new IntArraySharedVariable(this.owner, name, false);
}
else
{
variable = new IntSharedVariable(this.owner, name, false);
}
break;
case "LaserReadingArray":
if (!isArray)
{
variable = new LaserReadingArrayShV(this.owner, name, false);
}
break;
case "long":
if (isArray)
{
variable = new LongArraySharedVariable(this.owner, name, false);
}
else
{
variable = new LongSharedVariable(this.owner, name, false);
}
break;
case "Matrix":
if (!isArray)
{
variable = new MatrixSharedVariable(this.owner, name, false);
}
break;
case "RecognizedSpeech":
if (!isArray)
{
variable = new RecognizedSpeechSharedVariable(this.owner, name, false);
}
break;
case "var":
variable = new VarSharedVariable(this.owner, name, false);
isArray = false;
break;
case "Vector":
if (!isArray)
{
variable = new VectorSharedVariable(this.owner, name, false);
}
break;
case "string":
if (!isArray)
{
variable = new StringSharedVariable(this.owner, name, false);
}
break;
}
if (variable == null)
{
return(false);
}
rwLock.AcquireWriterLock(-1);
if (!variables.ContainsKey(name))
{
variables.Add(name, variable);
}
else
{
rwLock.ReleaseWriterLock();
return(false);
}
rwLock.ReleaseWriterLock();
Exception ex;
variable.UpdateInfo(500, out ex);
variable.Initialized = true;
return(variable.Update(type, isArray, -1, name, data, out ex));
}