void OnAudioEvent(TopicClient.Payload a_Payload)
{
Log.Status("SelfRemoteSpeechGesture", "OnAudioEvent() Called!");
float[] f = ConvertByteToFloat(a_Payload.Data);
AudioClip clip = AudioClip.Create("test", f.Length, 1, 22050, false);
clip.SetData(f, 0);
PlayClip(clip);
}
private void OnMicrophoneData(TopicClient.Payload a_Payload)
{
Log.Debug("TopicClient", "OnMicrophoneData() received. Payload: {0}", a_Payload);
Test(TopicClient.Instance.Unsubscribe("sensor-Microphone", OnMicrophoneData));
m_bSubscribeBinaryTested = true;
TopicClient.Instance.Subscribe("blackboard", OnBlackboard);
TopicClient.Instance.Subscribe("invalid-topic", OnInvalidTopic);
TopicClient.Instance.Publish("conversation", "tell me a joke");
}
//! Callback for sensor-manager topic.
void OnGestureManagerEvent(TopicClient.Payload a_Payload)
{
IDictionary json = Json.Deserialize(Encoding.UTF8.GetString(a_Payload.Data)) as IDictionary;
bool bFailed = false;
string gestureId = json["gestureId"] as string;
string instanceId = json["instanceId"] as string;
string gestureKey = gestureId + "/" + instanceId;
string event_name = json["event"] as string;
IGesture gesture = null;
if (m_Gestures.ContainsKey(gestureKey))
{
if (m_Gestures.TryGetValue(gestureKey, out gesture))
{
if (event_name.CompareTo("execute_gesture") == 0)
{
if (!gesture.Execute(OnGestureDone, json["params"] as IDictionary))
{
Log.Error("GestureManager", "Failed to execute gesture {0}", gestureId);
bFailed = true;
}
}
else if (event_name.CompareTo("abort_gesture") == 0)
{
if (!gesture.Abort())
{
Log.Error("GestureManager", "Failed to abort gesture {0}", gestureId);
bFailed = true;
}
}
}
else
{
Log.Error("GestureManager", "Failed to find gesture {0}", gestureKey);
bFailed = true;
}
// if we failed, send the message back with a different event
if (bFailed)
{
json["failed_event"] = event_name;
json["event"] = "error";
TopicClient.Publish("gesture-manager", Json.Serialize(json));
}
}
else
{
//do nothing
}
}
//! Callback for sensor-manager topic.
void OnSensorManagerEvent(TopicClient.Payload a_Payload)
{
IDictionary json = Json.Deserialize(Encoding.UTF8.GetString(a_Payload.Data)) as IDictionary;
bool bFailed = false;
string sensorId = json["sensorId"] as string;
ISensor sensor = null;
if (m_Sensors.TryGetValue(sensorId, out sensor))
{
string event_name = json["event"] as string;
if (event_name.CompareTo("start_sensor") == 0)
{
if (!sensor.OnStart())
{
Log.Error("SensorManager", "Failed to start sensor {0}", sensorId);
bFailed = true;
}
}
else if (event_name.CompareTo("stop_sensor") == 0)
{
if (!sensor.OnStop())
{
Log.Error("SensorManager", "OnStop() returned failure for sensor {0}", sensorId);
bFailed = true;
}
}
else if (event_name.CompareTo("pause_sensor") == 0)
{
sensor.OnPause();
}
else if (event_name.CompareTo("resume_sensor") == 0)
{
sensor.OnResume();
}
}
else
{
Log.Error("SensorManager", "Failed to find sensor {0}", sensorId);
bFailed = true;
}
// if we failed, send the message back with a different event
if (bFailed)
{
json["failed_event"] = json["event"];
json["event"] = "error";
TopicClient.Publish("sensor-manager", Json.Serialize(json));
}
}
private void OnInvalidTopic(TopicClient.Payload a_Payload)
{
Log.Debug("TopicClient", "OnInvalidTopic(). Payload: {0}", a_Payload);
Test(a_Payload == null);
m_bSubFailedTested = true;
}
private void OnBlackboard(TopicClient.Payload a_Payload)
{
Log.Debug("TopicClient", "OnBlackboard(). Payload: {0} \n Data: {1}", a_Payload, Encoding.UTF8.GetString(a_Payload.Data));
Test(TopicClient.Instance.Unsubscribe("blackboard", OnBlackboard));
m_bSubscribeTextTested = true;
}
private void OnTopicManagerEvent(TopicClient.Payload a_Event)
{
if (a_Event != null)
{
IDictionary json = a_Event.ParseJson();
string event_name = json["event"] as string;
if (event_name == "connected")
{
string selfId = json["selfId"] as string;
if ((bool)json["parent"])
{
if (Parent != null)
{
throw new WatsonException("Parent is already set!");
}
Parent = new Node(m_Explorer);
Parent.Children.Add(this);
if (m_Explorer.OnNodeAdded != null)
{
m_Explorer.OnNodeAdded(Parent);
}
Parent.Refresh(m_Path + "../", SelfId);
}
else
{
Node child = new Node(m_Explorer);
m_Children.Add(child);
if (m_Explorer.OnNodeAdded != null)
{
m_Explorer.OnNodeAdded(child);
}
child.Refresh(m_Path + selfId + "/", SelfId);
}
}
else if (event_name == "disconnected")
{
string selfId = json["selfId"] as string;
if (Parent != null && Parent.SelfId == selfId)
{
if (m_Explorer.OnNodeRemoved != null)
{
m_Explorer.OnNodeRemoved(Parent);
}
Parent = null;
}
else
{
foreach (Node child in m_Children)
{
if (child.SelfId == selfId)
{
if (m_Explorer.OnNodeRemoved != null)
{
m_Explorer.OnNodeRemoved(child);
}
m_Children.Remove(child);
break;
}
}
}
}
}
else
{
Log.Error("SelfExplorer", "Failed to subscribe to topic-manager, node: {0}", ToString());
}
}
void OnBlackBoardEvent(TopicClient.Payload a_Payload)
{
IDictionary json = a_Payload.ParseJson();
bool bFailed = false;
string event_name = json["event"] as string;
string type = json["type"] as string;
ThingEvent te = new ThingEvent();
te.m_EventType = ThingEventType.TE_NONE;
te.m_Event = json;
if (event_name == "add_object")
{
te.m_EventType = ThingEventType.TE_ADDED;
// TODO: Create correct type based on type name, fall back to just making an IThing object
te.m_Thing = new IThing();
try {
te.m_Thing.Deserialize(json["thing"] as IDictionary);
te.m_Thing.Origin = a_Payload.Origin;
#if ENABLE_DEBUGGING
Log.Debug("BlackBoard", "Adding object {0} from {1}", te.m_Thing.GUID, te.m_Thing.Origin);
#endif
if (json.Contains("parent"))
{
te.m_Thing.ParentGUID = json["parent"] as string;
}
m_ThingMap[te.m_Thing.GUID] = te.m_Thing;
}
catch (Exception e)
{
Log.Error("BlackBoard", "Failed to deserialize object: {0}, stack: {1}", e.Message, e.StackTrace);
bFailed = true;
}
}
else if (event_name == "remove_object")
{
te.m_EventType = ThingEventType.TE_REMOVED;
string guid = json["thing_guid"] as string;
if (m_ThingMap.TryGetValue(guid, out te.m_Thing))
{
#if ENABLE_DEBUGGING
Log.Debug("BlackBoard", "Removing object {0}", guid);
#endif
m_ThingMap.Remove(guid);
}
#if ENABLE_DEBUGGING
else
{
Log.Debug("BlackBoard", "Failed to find object by guid {0}.", guid);
}
#endif
}
else if (event_name == "set_object_state")
{
string guid = json["thing_guid"] as string;
if (m_ThingMap.TryGetValue(guid, out te.m_Thing))
{
string state = json["state"] as string;
#if ENABLE_DEBUGGING
Log.Debug("BlackBoard", "Updating object {0} state to {1}", guid, state);
#endif
te.m_Thing.State = json["state"] as string;
}
#if ENABLE_DEBUGGING
else
{
Log.Debug("BlackBoard", "Failed to find object by guid {0}.", guid);
}
#endif
}
else if (event_name == "set_object_importance")
{
string guid = json["thing_guid"] as string;
if (m_ThingMap.TryGetValue(guid, out te.m_Thing))
{
float fImportance = (float)json["importance"];
#if ENABLE_DEBUGGING
Log.Debug("BlackBoard", "Updating object {0} importance to {1}", guid, fImportance);
#endif
te.m_Thing.Importance = fImportance;
}
#if ENABLE_DEBUGGING
else
{
Log.Debug("BlackBoard", "Failed to find object by guid {0}.", guid);
}
#endif
}
// if we failed, send the message back with a different event
if (bFailed)
{
json["failed_event"] = event_name;
json["event"] = "error";
TopicClient.Instance.Publish(a_Payload.Origin, Json.Serialize(json));
}
else if (te.m_EventType != ThingEventType.TE_NONE)
{
foreach (var path in m_SubscriberMap)
{
List <Subscriber> subs = null;
if (path.Value.TryGetValue(type, out subs))
{
for (int i = 0; i < subs.Count; ++i)
{
Subscriber sub = subs[i];
if (sub.m_Callback == null)
{
continue;
}
if ((sub.m_EventMask & te.m_EventType) == 0)
{
continue;
}
sub.m_Callback(te);
}
}
}
}
}
