///////////////////////////////////////////////////////////////////
// if if{(join1) (expr0)}else{&element}
// if1 if{expr1 - &element0}elseif{&join1}else{&element}
///////////////////////////////////////////////////////////////////
public IEnumerator <ccr.ITask> RunHandler(Microsoft.Robotics.Technologies.Speech.SpeechRecognizer.Proxy.SpeechRecognized message)
{
Increment();
if (message.Body.Confidence > 0.7D)
{
Increment();
_joinAlphaPorts[1].Post(message.Body);
if (message.Body.Semantics.Children[@"TypeOfMoving"].ValueString == @"Stop")
{
Increment();
_mergeGamma.Post(FloatCast(0D));
}
else if (message.Body.Semantics.Children[@"TypeOfMoving"].ValueString == @"Move")
{
Increment();
_joinAlphaPorts[0].Post(message.Body.Semantics.Children[@"TypeOfMoving"].ValueString);
}
else
{
Increment();
_mergeAlpha.Post(message.Body.Semantics.Children[@"TypeOfMoving"].ValueString);
}
}
else
{
Increment();
_mergeAlpha.Post(message.Body);
}
Decrement();
yield return(WaitUntilComplete());
}
/// <summary>
/// Speech recognized handler
/// </summary>
/// <param name="recognized"></param>
private void SpeechRecognizedHandler(sr.SpeechRecognized recognized)
{
// Keep speech event queue from growing infinitely
if (_state.SpeechEvents.Count == MaxSpeechEventsToRetain)
{
_state.SpeechEvents.RemoveAt(0);
}
// Add latest event to queue
_state.SpeechEvents.Add(new EventListEntry(recognized.Body));
}
/// <summary>
/// Handles the recognition event notification
/// </summary>
/// <param name="recognition"></param>
#region CODECLIP 02-2
void OnSRRecognition(sr.SpeechRecognized recognition)
{
if (recognition.Body.Semantics != null)
{
switch (recognition.Body.Semantics.ValueString)
{
case "Forward":
_drivePort.SetDrivePower(0.5, 0.5);
break;
case "Backward":
_drivePort.SetDrivePower(-0.5, -0.5);
break;
case "Left":
_drivePort.SetDrivePower(-0.3, 0.3);
break;
case "Right":
_drivePort.SetDrivePower(0.3, -0.3);
break;
case "Stop":
_followMe = false;
_drivePort.SetDrivePower(0.0, 0.0);
break;
case "FollowMe":
_followMe = !_followMe;
if (!_followMe)
{
_drivePort.SetDrivePower(0.0, 0.0);
}
break;
}
}
}
IEnumerator <ccr.ITask> SpeechRecognizerSpeechRecognizedHandler(Microsoft.Robotics.Technologies.Speech.SpeechRecognizer.Proxy.SpeechRecognized message)
{
OnSpeechRecognizerSpeechRecognizedHandler handler = new OnSpeechRecognizerSpeechRecognizedHandler(this, Environment.TaskQueue);
return(handler.RunHandler(message));
}
