/// <summary>
/// Loop through some head, arm, image and led actions
/// </summary>
/// <param name="parameters"></param>
public void OnStart(object sender, IDictionary <string, object> parameters)
{
try
{
//These calls assume system assets on the robot at the time of writing,
//update as needed for new or different assets or as an exercise to allow user to pass in asset names :)
//This loop could also be accomplished with a timed callback
while (_misty.Wait(5000))
{
_misty.PlayAudio("s_Acceptance.wav", 100, null);
_misty.MoveHead(45, 25, 0, 50, AngularUnit.Degrees, null);
_misty.MoveArms(0, 45, 25, 60, null, AngularUnit.Degrees, null);
_misty.ChangeLED(0, 255, 0, null);
_misty.DisplayImage("e_Disoriented.jpg", 1, null);
//Pause for 4 seconds, if the cancellation token is set during this time, exit the pause and the method
if (!_misty.Wait(4000))
{
return;
}
_misty.PlayAudio("s_Awe2.wav", 100, null);
_misty.MoveHead(-10, 15, 30, 50, AngularUnit.Degrees, null);
_misty.MoveArms(-45, 0, 60, 60, null, AngularUnit.Degrees, null);
_misty.ChangeLED(0, 255, 255, null);
_misty.DisplayImage("e_ContentRight.jpg", 1, null);
//Pause for 3.5 seconds, if the cancellation token is set during this time, exit the pause and the method
if (!_misty.Wait(3500))
{
return;
}
_misty.PlayAudio("s_Joy.wav", 100, null);
_misty.MoveHead(75, 25, 10, 50, AngularUnit.Degrees, null);
_misty.MoveArms(-45, 45, 60, 60, null, AngularUnit.Degrees, null);
_misty.ChangeLED(255, 255, 255, null);
_misty.DisplayImage("e_ContentLeft.jpg", 1, null);
//Pause for 2.5 seconds, if the cancellation token is set during this time, exit the pause and the method
if (!_misty.Wait(2500))
{
return;
}
_misty.PlayAudio("s_Joy.wav", 100, null);
_misty.MoveHead(65, 0, -10, 50, AngularUnit.Degrees, null);
_misty.MoveArms(0, -45, 60, 60, null, AngularUnit.Degrees, null);
_misty.ChangeLED(0, 0, 255, null);
_misty.DisplayImage("e_Joy.jpg", 1, null);
}
}
catch (Exception ex)
{
_misty.SkillLogger.Log($"HelloAgainWorldSkill : OnStart: => Exception", ex);
}
}
private void MoveArmCallback(object info)
{
_misty.MoveArms(_randomGenerator.Next(-90, 90), _randomGenerator.Next(-90, 90), 100, 100, null, AngularUnit.Degrees, null);
}
private void ProcessQueryResult(object sender, string stringResult)
{
JObject dynamicResponse = JObject.Parse(stringResult);
string color = ((string)dynamicResponse["queryResult"]?["parameters"]?["Color"])?.ToLower();
string position = ((string)dynamicResponse["queryResult"]?["parameters"]?["Direction"])?.ToLower();
string outputAudioString = (string)dynamicResponse["outputAudio"];
byte[] outputAudio = Convert.FromBase64String(outputAudioString);
try
{
JsonConverter[] converters = new JsonConverter[2] {
new ProtoByteStringConverter(), new OutputAudioEncodingConverter()
};
DetectIntentResponse response = JsonConvert.DeserializeObject <DetectIntentResponse>(stringResult, converters);
string intent = response?.QueryResult?.Intent?.DisplayName;
string defaultResponse = response?.QueryResult?.FulfillmentText;
switch (intent)
{
case "ChangeLED":
if (color != null)
{
Color argbColor = Color.FromName(color);
_misty.ChangeLED(argbColor.R, argbColor.G, argbColor.B, null);
}
break;
case "Joke":
_misty.PlayAudio(defaultResponse, 30, null);
break;
case "Move your arms":
if (position == "up")
{
_misty.MoveArms(-90, -90, 50, 50, null, AngularUnit.Degrees, null);
}
if (position == "down")
{
_misty.MoveArms(90, 90, 50, 50, null, AngularUnit.Degrees, null);
}
_misty.Halt(null, null);
break;
case "MoveHeadPosition":
if (position == "up")
{
_misty.MoveHead(-100, 0, 0, 50, AngularUnit.Degrees, null);
}
if (position == "down")
{
_misty.MoveHead(100, 0, 0, 50, AngularUnit.Degrees, null);
}
if (position == "right")
{
_misty.MoveHead(0, 0, -100, 50, AngularUnit.Degrees, null);
}
if (position == "left")
{
_misty.MoveHead(0, 0, 100, 50, AngularUnit.Degrees, null);
}
break;
default:
_misty.SaveAudio("tts.wav", outputAudio, true, true, null);
break;
}
}
catch (Exception ex)
{
}
}
public void MoveArmCallback(object timerData)
{
_misty.MoveArms(_randomGenerator.Next(MinimumArmDegreesInclusive, MaximumArmDegreesExclusive), _randomGenerator.Next(MinimumArmDegreesInclusive, MaximumArmDegreesExclusive), _randomGenerator.Next(MinimumArmSpeedInclusive, MaximumArmSpeedExclusive), _randomGenerator.Next(MinimumArmSpeedInclusive, MaximumArmSpeedExclusive), null, AngularUnit.Degrees, null);
}
/// <summary>
/// Called on the timer tick to send a random move arm command to the robot
/// </summary>
/// <param name="info"></param>
public void MoveArmCallback(object info)
{
_misty.MoveArms(_randomGenerator.Next(-90, 90), _randomGenerator.Next(-90, 90), _randomGenerator.Next(10, 40), _randomGenerator.Next(10, 40), null, AngularUnit.Degrees, null);
}
