protected async Task <PlaybackResult> PlayWavStreamAsync(IVectorControllerPlus controller, Stream stream, uint volume = 50)
{
var reader = new BinaryReader(stream);
var header = reader.ReadBytes(44);
return(await PlaySoundAsync(controller, header, stream, volume));
}
private async Task <PlaybackResult> PlaySoundAsync(IVectorControllerPlus controller, byte[] header, Stream stream, uint volume)
{
// WAV format guide: http://www.topherlee.com/software/pcm-tut-wavformat.html
var channels = BitConverter.ToUInt16(header, 22);
if (channels != 1)
{
throw new ArgumentException("Vector requires a 1 channel WAV.");
}
var bitdepth = BitConverter.ToUInt16(header, 34);
if (bitdepth != 16)
{
throw new ArgumentException("Vector requires a WAV with 16-bit samples.");
}
var sampleRate = BitConverter.ToUInt32(header, 24);
uint frameRate = sampleRate; // not right I think
if (frameRate < 8000 || frameRate > 16025)
{
throw new ArgumentException("Frame rate must bet between 8000 and 16025 hz.");
}
return(await controller.Robot.Audio.PlayStream(stream, frameRate, volume));
}
protected override async Task <bool> ExecuteImplementationAsync(IVectorControllerPlus controller)
{
if (ReadyToInteract(controller.Robot))
{
await controller.Robot.Behavior.SetLiftHeight(1.0f);
}
bool spoke = false;
if (await WaitUntilReadyToSpeakAsync(controller.Robot, TimeSpan.FromSeconds(5)))
{
if (name != null)
{
await controller.Robot.Behavior.SayText("Would you like a cup of tea, " + name + "?", true);
}
else
{
await controller.Robot.Behavior.SayText("Would you like a cup of tea?", true);
}
spoke = true;
}
if (ReadyToInteract(controller.Robot))
{
await controller.Robot.Behavior.SetLiftHeight(0.0f);
}
return(spoke);
}
public async Task <ActionState> ExecuteAsync(IVectorControllerPlus controller)
{
Started = DateTime.Now;
if (IsTimedOut)
{
State = ActionState.Timeout;
}
else if (Killed)
{
State = ActionState.Dead;
}
else
{
try
{
Attempted = true;
State = ActionState.Running;
bool ok = await ExecuteImplementationAsync(controller);
Duration = DateTime.Now - Started;
State = ok ? ActionState.Completed : ActionState.Failed;
}
catch (Exception e)
{
Exception = e;
// TODO: log the exception?
State = ActionState.Failed;
}
}
return(State);
}
protected override async Task <bool> ExecuteImplementationAsync(IVectorControllerPlus controller)
{
// turn to face someone - allow 5 seconds to be ready to roll
if (await WaitUntilReadyToInteractAsync(controller.Robot, TimeSpan.FromSeconds(5)))
{
var status = await controller.Robot.Behavior.FindFaces();
var faces = controller.Robot.World.Objects.Where(o => o is Face).Select(o => o as Face);
var recentSpan = TimeSpan.FromSeconds(20);
var recentFaces = faces.Where(f => DateTime.Now - f.LastObservedTime < recentSpan);
if (recentFaces.Count() > 0)
{
int index = random.Next(0, faces.Count());
var face = faces.ElementAt(index);
var turned = await controller.Robot.Behavior.TurnTowardsFace(face, 2);
return
(turned.Result == Anki.Vector.Types.ActionResultCode.ActionResultSuccess);
}
else
{
return(false); // no faces
}
}
else
{
return(false); // not ready to interact
}
}
protected async Task <PlaybackResult> PlayEmbeddedSoundAsync(IVectorControllerPlus controller, string resourceId, uint volume = 50)
{
//var thisAssembly = Assembly.GetExecutingAssembly();
var thisAssembly = GetType().GetTypeInfo().Assembly;
var stream = thisAssembly.GetManifestResourceStream(resourceId);
return(await PlayWavStreamAsync(controller, stream, volume));
}
protected async Task <PlaybackResult> PlayWavByteArrayAsync(IVectorControllerPlus controller, byte[] wav, uint volume = 50)
{
// Audio starts at offset 44...
var header = new byte[44];
var audio = new byte[wav.Length - 44];
wav.CopyTo(header, 0);
wav.CopyTo(audio, 44);
var stream = new MemoryStream(audio);
return(await PlaySoundAsync(controller, header, stream, volume));
}
public async Task SetControllerAsync(IVectorControllerPlus controller)
{
if (this.controller != controller && this.controller != null)
{
this.controller.OnConnectionChanged -= Controller_OnConnectionChanged;
}
if (this.controller != controller && controller != null)
{
controller.OnConnectionChanged += Controller_OnConnectionChanged;
}
this.controller = controller;
await HandleConnectionStateAsync();
}
protected override async Task <bool> ExecuteImplementationAsync(IVectorControllerPlus controller)
{
// initial search for the cube - allow up to 5 seconds to be ready to roll
await WaitUntilReadyToInteractAsync(controller.Robot, TimeSpan.FromSeconds(5));
if (ReadyToInteract(controller.Robot))
{
await controller.Robot.World.ConnectCube();
if (controller.Robot.World.LightCube.IsConnected)
{
// there's a cube in sight, so exterminate it
await controller.Robot.Behavior.SetLiftHeight(0.5f);
await controller.Robot.Behavior.GoToCube(100.0f, 2);
await controller.Robot.Behavior.SayText("Extermin8! Extermin8!", true);
await controller.Robot.Behavior.GoToCube(50.0f);
await PlayEmbeddedSoundAsync(controller, "VectorPlus.Demo.Behaviour.Audio.gun16.wav");
await controller.Robot.Behavior.SetLiftHeight(0.0f);
}
else
{
// turn towards any face
var status = await controller.Robot.Behavior.FindFaces();
var faces = controller.Robot.World.Objects.Where(o => o is Face).Select(o => o as Face);
var recentSpan = TimeSpan.FromSeconds(20);
var recentFaces = faces.Where(f => DateTime.Now - f.LastObservedTime < recentSpan);
if (recentFaces.Count() > 0)
{
int index = random.Next(0, faces.Count());
var face = faces.ElementAt(index);
var turned = await controller.Robot.Behavior.TurnTowardsFace(face, 2);
}
// catch phrase instead of extermination
await controller.Robot.Behavior.SayText("You would make a good dalek.", true);
}
}
else
{
// unable to turn towards a face, just say the line
await controller.Robot.Behavior.SayText("You would make a good dalek.", true);
}
return(true);
}
protected override async Task <bool> ExecuteImplementationAsync(IVectorControllerPlus controller)
{
await controller.Robot.Behavior.SetLiftHeight(92f); // this is in BehaviorComponent.MaxLiftHeight, but it's private
await controller.Robot.Behavior.SayText("Happy birthday to you!", true);
await controller.Robot.Behavior.SayText("Happy birthday to you!", true);
await controller.Robot.Behavior.SayText("Happy birthday dear Sheila.", true);
await controller.Robot.Behavior.SayText("Happy birthday to you!", true);
// await controller.Robot.Behavior.SetLiftHeight(32f); // this is in BehaviorComponent.MinLiftHeight, but it's private
return(true);
}
protected override async Task <bool> ExecuteImplementationAsync(IVectorControllerPlus controller)
{
if (face == null)
{
return(false);
}
// allow 5 seconds to be ready to roll
if (await WaitUntilReadyToInteractAsync(controller.Robot, TimeSpan.FromSeconds(5)))
{
var turned = await controller.Robot.Behavior.TurnTowardsFace(face, 2);
return
(turned.Result == Anki.Vector.Types.ActionResultCode.ActionResultSuccess);
}
else
{
return(false); // not ready to interact
}
}
protected async override Task <bool> ExecuteImplementationAsync(IVectorControllerPlus controller)
{
await controller.Robot.Motors.StopAllMotors();
return(true);
}
protected async override Task <bool> ExecuteImplementationAsync(IVectorControllerPlus controller)
{
await controller.Robot.Behavior.SayText(speech, true);
return(true);
}
protected void StopPlayback(IVectorControllerPlus controller)
{
controller.Robot.Audio.CancelPlayback();
}
public static VectorBehaviourPlusReport FromException(Exception e, Robot robot = null, IVectorControllerPlus controller = null, IVectorBehaviourPlus behaviour = null)
{
return(new VectorBehaviourPlusReport()
{
Description = e.Message,
Controller = controller,
Robot = robot,
Behaviour = behaviour
});
}
protected abstract Task <bool> ExecuteImplementationAsync(IVectorControllerPlus controller);
protected async Task <PlaybackResult> PlayWavFileAsync(IVectorControllerPlus controller, string wavPath, uint volume = 50)
{
return(await PlayWavByteArrayAsync(controller, File.ReadAllBytes(wavPath), volume));
}
