public MessageEventArgs SendMessage(string sendto, MessageEventArgs msg)
{
if (evSendMessage != null)
{
return evSendMessage(sendto, this.ID, msg);
}
else
return null;
}
public MessageEventArgs MessageHandler(string sendfrom, MessageEventArgs message)
{
if (message.MsgType == MessageEventArgs.MessageType.COMMAND)
{
if (message.Cmd == "NextSlide")
{
NextSlide();
}
else if (message.Cmd == "PreviousSlide")
{
PreviousSlide();
}
else if (message.Cmd.StartsWith("RunPPT"))
{
string file = message.CmdArgs[0];
RunPresentation(file);
}
else if (message.Cmd == "ClosePPT")
{
Presentation.SlideShowWindow.View.Exit();
}
else if (message.Cmd == "ShowPhoto")
{
string picfile = message.CmdArgs[0];
ShowPictureNewSlide(picfile);
}
else if (message.Cmd == "FetchQuizAnswers")
{
bool disagree = false;
int useranswer = -1, useranswer2 = -1;
try
{
TPD.AnswerDistribution(out disagree, out useranswer, out useranswer2);
}
catch (System.Exception ex)
{
Debug.WriteLine("{0}: quiz data is not ready! {1}", this.ID, ex);
}
string[] data = new string[] { disagree.ToString(), useranswer.ToString(), useranswer2.ToString()};
MessageEventArgs backmsg = new MessageEventArgs(data);
return backmsg;
}
}
return null;
}
public MessageEventArgs MessageHandler(string sendfrom, MessageEventArgs message)
{
if (message.MsgType == MessageEventArgs.MessageType.COMMAND)
{
if (message.Cmd == "ChangeRobotMood")
{
string valstr = message.CmdArgs[0];
double valence = Double.Parse(valstr);
// Draw
AddPointToCurve("Valence", valence);
}
else if (message.Cmd == "TextSenti")
{
if (cbSentiText.Checked == true)
{
string sentence = message.CmdArgs[0];
double valence = SentiText(sentence);
// Draw
AddPointToCurve("Valence", valence);
return new MessageEventArgs(valence as Object);
}
else
{
return new MessageEventArgs(200 as Object);
}
}
else if (message.Cmd == "TextSentiStart")
{
LaunchSentimentStrength();
areSentiStrengthLaunched.WaitOne(5000);
return null;
}
else if (message.Cmd == "TextSentiStop")
{
StopJavaProgram();
return null;
}
}
return null;
}
private void SendMessage(string sendto, MessageEventArgs message)
{
if (Dockees.ContainsKey(sendto))
{
Dockees[sendto].MessageHandler(this.ID, message);
}
}
/// <summary>
/// Central message distributor.
/// </summary>
/// <param name="message"></param>
/// <param name="sendto"></param>
/// <param name="sendfrom"></param>
private MessageEventArgs MessageCenter(string sendto, string sendfrom, MessageEventArgs message)
{
if (sendto == "ScriptEngine")
{
if (IsExternalScriptEngine == true) sendto = "ExternalScriptEngine";
}
if (Dockees.ContainsKey(sendto))
{
MessageEventArgs backmsg = Dockees[sendto].MessageHandler(sendfrom, message);
return backmsg;
}
else
return null;
}
public MessageEventArgs MessageHandler(string sendfrom, MessageEventArgs message)
{
if (message.MsgType == MessageEventArgs.MessageType.COMMAND)
{
if (message.Cmd == "NaoSpeechFinished")
{
int len = int.Parse(message.CmdArgs[0]);
//Debug.WriteLine("{0}: NAO speech finished - {1}", this.ID, len );
SpeechDone();
}
else if (message.Cmd == "TTSNotConnected")
{
Console.WriteLine("{0}: Speech is not said: {1}", this.ID, "TTSNotConnected!");
SpeechDone();
}
else if (message.Cmd == "NaoBehaviorFinished")
{
string behaviorname = message.CmdArgs[0];
Debug.WriteLine("{0}: NAO behavior finished - {1}", this.ID, behaviorname);
BehaviorDone();
}
else if (message.Cmd == "NaoBehaviorNotExecuted")
{
string behaviorname = message.CmdArgs[0];
Debug.WriteLine("{0}: NAO behavior NOT executed! - {1}", this.ID, behaviorname);
BehaviorDone();
}
}
return null;
}
public MessageEventArgs MessageHandler(string sendfrom, MessageEventArgs message)
{
if (message.MsgType == MessageEventArgs.MessageType.TEXT)
{
if (message.TextMsg == "Connect")
{
c.connect();
}
else if (message.TextMsg == "Run")
{
NaoMove((c.run()).ToLower());
}
else if (message.TextMsg == "Ask")
{
string answer;
do{
answer = c.run().ToLower();
Console.WriteLine("Answer: " + answer);
}while(answer != "ja" && answer != "nee");
string[] data = new string[] { answer.ToString() };
MessageEventArgs backmsg = new MessageEventArgs(data);
return backmsg;
}
else if (message.TextMsg == "Close")
{
c.close();
}
}
return null;
}
public MessageEventArgs MessageHandler(string sendfrom, MessageEventArgs message)
{
if(message.MsgType==MessageEventArgs.MessageType.COMMAND)
{
if (message.Cmd == "Say")
{
string texttosay = message.CmdArgs[0];
// Change robot mood
if (this.NaoAffect.SentiAffect.SentiTextEnabled)
{
/* TODO: TextSentiment is not available in this version.
//SendMessage("TextSentiment", new MessageEventArgs("TextSenti", new string [] {texttosay}));
MessageEventArgs backdata = this.NaoAffect.SentiAffect.MessageHandler(this.ID, new MessageEventArgs("TextSenti", new string[] { texttosay }));
double valence = (double)backdata.DataReturn;
*/
}
NaoClient.Say(texttosay);
}
else if (message.Cmd == "InitSentiText") // maybe put into SentiAffect itself
{
this.NaoAffect.SentiAffect.MessageHandler(this.ID, new MessageEventArgs("TextSentiStart", new string[]{}));
}
else if (message.Cmd == "ChangeRobotMood")
{
string moodstr = message.CmdArgs[0];
string[] vad = moodstr.Split(',');
string valence = vad[0];
//string arousal = vad[1];
//string dominance = vad[2];
Invoke((MethodInvoker)delegate() {
this.NaoAffect.Valence = double.Parse(valence);
});
}
else if (message.Cmd == "ExecuteBehavior")
{
string behaviorname = message.CmdArgs[0];
HandleBehavior(behaviorname);
}
else if (message.Cmd == "CapturePhoto")
{
string imgfile = HandleCameraPhoto();
return new MessageEventArgs(imgfile);
}
else if (message.Cmd == "Config")
{
string config = message.CmdArgs[0];
HandleConfig(config);
}
else if (message.Cmd == "CheckIdleMoveConflicts")
{
string behaviorname = message.CmdArgs[0];
if(IsLegInvolved(behaviorname))
{
if (this.NaoIdleMoveLeg != null) this.NaoIdleMoveLeg.Stop();
}
if (IsHeadInvolved(behaviorname))
{
if(this.NaoIdleMoveHead != null) this.NaoIdleMoveHead.Stop();
}
}
}
else if(message.MsgType == MessageEventArgs.MessageType.TEXT)
{
if (message.TextMsg == "ScriptEnded")
{
if (this.NaoIdleMoveLeg != null) this.NaoIdleMoveLeg.Stop();
}
else if (message.TextMsg == "ScriptPaused")
{
if (this.NaoIdleMoveLeg != null) this.NaoIdleMoveLeg.Stop();
}
}
return null;
}
public MessageEventArgs MessageHandler(string sendfrom, MessageEventArgs message)
{
return null;
}
public MessageEventArgs MessageHandler(string sendfrom, MessageEventArgs message)
{
if (message.MsgType == MessageEventArgs.MessageType.COMMAND)
{
/*if (message.Cmd == "Say")
{
}*/
}
return null;
}
public MessageEventArgs MessageHandler(string sendfrom, MessageEventArgs message)
{
if(message.MsgType==MessageEventArgs.MessageType.COMMAND)
{
if (message.Cmd == "Say")
{
string texttosay = message.CmdArgs[0];
// Change robot mood
if (this.NaoAffect.SentiAffect.SentiTextEnabled) // a CheckBox needs to be checked manually
{
//SendMessage("TextSentiment", new MessageEventArgs("TextSenti", new string [] {texttosay}));
MessageEventArgs backdata = this.NaoAffect.SentiAffect.MessageHandler(this.ID, new MessageEventArgs("TextSenti", new string[] { texttosay }));
double valence = (double)backdata.DataReturn;
}
NaoClient.Say(texttosay);
}
else if (message.Cmd == "ChangeRobotMood")
{
string moodstr = message.CmdArgs[0];
string[] vad = moodstr.Split(',');
string valence = vad[0];
//string arousal = vad[1];
//string dominance = vad[2];
Invoke((MethodInvoker)delegate(){
this.NaoAffect.Valence = double.Parse(valence);
});
this.NaoAffect.SentiAffect.MessageHandler(this.ID, new MessageEventArgs("ChangeRobotMood", new string[] { valence }));
}
else if (message.Cmd == "PointToRaisedHands") // respond to students' raising hands
{
double y = Convert.ToDouble(message.CmdArgs[0]), z = Convert.ToDouble(message.CmdArgs[1]), x = 400;
IBehaviorProfile prh = new BehaviorProfilePointingOmni(x, y, z);
MotionTimeline mtl = prh.LoadBehavior(0);
NaoClient.ExecuteBehaviorInQueue(mtl);
}
else if (message.Cmd == "CheckBehavior")
{
string behaviorname = message.CmdArgs[0];
bool b = false;
if (behaviorname == "Twinkle"
|| behaviorname == "GangnamLong"
|| behaviorname == "Wink"
|| behaviorname == "Kick"
|| behaviorname == "StandHead"
|| behaviorname == "AllOn"
|| behaviorname == "AllOff"
|| behaviorname == "EyesOn"
|| behaviorname == "EyesOff"
|| behaviorname == "RandomEyes"
|| behaviorname == "Walk"
|| behaviorname == "StandUp"
|| behaviorname == "Squat"
|| behaviorname == "Pushups"
|| behaviorname == "Macarena")
b = true; // temp solution
else b= this.BehaviorGenerator.ContainsKey(behaviorname);
return new MessageEventArgs(b as object);
}
else if (message.Cmd == "ExecuteBehavior")
{
string behaviorname = message.CmdArgs[0];
HandleBehavior(behaviorname);
}
else if (message.Cmd == "CapturePhoto")
{
string imgfile = HandleCameraPhoto();
return new MessageEventArgs(imgfile);
}
else if (message.Cmd == "Config")
{
string config = message.CmdArgs[0];
if (config == "text_senti_enabled") // maybe put into SentiAffect itself
{
this.NaoAffect.SentiAffect.MessageHandler(this.ID, new MessageEventArgs("TextSentiStart", new string[] { }));
}
else if (config == "constant_head")
{
this.NaoClient.RecoverHead = false;
}
else if (config == "forwardlooking_head")
{
this.NaoClient.HeadYawInhibition = true;
}
else if (config == "freelooking_head")
{
this.NaoClient.HeadYawInhibition = false;
}
else
{
ConfigRobot(config);
}
}
else if (message.Cmd == "CheckIdleMoveConflicts")
{
string behaviorname = message.CmdArgs[0];
if (IsLegInvolved(behaviorname))
{
if (this.NaoIdleMoveLeg != null) this.NaoIdleMoveLeg.Stop();
}
//if (IsHeadInvolved(behaviorname))
//{
// if (this.NaoIdleMoveHead != null) this.NaoIdleMoveHead.Stop();
//}
}
}
else if(message.MsgType == MessageEventArgs.MessageType.TEXT)
{
if (message.TextMsg == "ScriptEnded")
{
if (this.NaoIdleMoveLeg != null) this.NaoIdleMoveLeg.Stop();
}
else if (message.TextMsg == "ScriptPaused")
{
if (this.NaoIdleMoveLeg != null) this.NaoIdleMoveLeg.Stop();
Debug.WriteLine("{0}: Script paused!", this.ID);
}
}
return null;
}
