/// <summary>
/// TODO: load from XML files
/// </summary>
private void LoadBehaviors()
{
// Pointing
// Forward X = 400D; Y = 0D; Z = 0D;
// Up right X = 400D; Y = -500D; Z = 600D;
//IBehaviorProfile Pointing = new BehaviorProfilePointing();
IBehaviorProfile Pointing = new BehaviorProfilePointingOmni(400D, -500D, 600D); // up right
IBehaviorProfile PointingForward = new BehaviorProfilePointingOmni(400D, 0, 0);
IBehaviorProfile PointingRight = new BehaviorProfilePointingOmni(400D, -600D, -150D); // x should not small, z should not big
IBehaviorProfile PointingUp = new BehaviorProfilePointingOmni(100D, -200D, 400D);
IBehaviorProfile PointingFrontDown = new BehaviorProfilePointingOmni(400D, 50D, -200D);
// Direction/Position/Shape
IBehaviorProfile FromAToB = new BehaviorProfileFromAToB();
IBehaviorProfile OneTheOther = new BehaviorProfileOneTheOther();
IBehaviorProfile LRUD = new BehaviorProfileLRUD();
IBehaviorProfile Tiny = new BehaviorProfileTiny();
// Social
IBehaviorProfile Waving = new BehaviorProfileWaving();
IBehaviorProfile Clap = new BehaviorProfileClap();
// Abstract
IBehaviorProfile Capisce = new BehaviorProfileCapisce();
IBehaviorProfile CapisceRotate = new BehaviorProfileCapisceRotate();
IBehaviorProfile State = new BehaviorProfileState(); // ReverseCapisce (originally is left arm)
IBehaviorProfile Propose = new BehaviorProfilePropose();
IBehaviorProfile HandOver = new BehaviorProfileHandOver();
IBehaviorProfile PushAside = new BehaviorProfilePushAside();
IBehaviorProfile Spread = new BehaviorProfileSpread();
IBehaviorProfile PressDown = new BehaviorProfilePressDown();
IBehaviorProfile ShowSide = new BehaviorProfileShowSide();
IBehaviorProfile Motivate = new BehaviorProfileMotivate(); // ShakeHands
IBehaviorProfile Weigh = new BehaviorProfileWeigh();
IBehaviorProfile Convince = new BehaviorProfileConvince();
IBehaviorProfile ConvergeHands = new BehaviorProfileConvergeHands();
IBehaviorProfile Applaud = new BehaviorProfileApplaud();
// I; You
IBehaviorProfile FirstMe = new BehaviorProfileFirstMe(); // raise hand + Me/I
IBehaviorProfile First = new BehaviorProfileFirst();
IBehaviorProfile Me = new BehaviorProfileMe(); // Me/I
IBehaviorProfile YouAndMe = new BehaviorProfileYouAndMe();
IBehaviorProfile MeAndYou = new BehaviorProfileMeAndYou();
// head-oriented movements
IBehaviorProfile Nod = new BehaviorProfileNod();
IBehaviorProfile NoShakeHead = new BehaviorProfileNoShakeHead();
IBehaviorProfile LookAround = new BehaviorProfileLookAround();
IBehaviorProfile Think = new BehaviorProfileThink();
IBehaviorProfile PhotoHeadPose = new BehaviorProfilePhotoHeadPose();
// Leg movements
IBehaviorProfile Balance = new BehaviorProfileBalance();
IBehaviorProfile LeanRight = new BehaviorProfileLeanRight();
// Torso
IBehaviorProfile Bow = new BehaviorProfileBow();
IBehaviorProfile SmallBow = new BehaviorProfileSmallBow();
IBehaviorProfile StandHead = new BehaviorProfileStandHead();
IBehaviorProfile HeadPose = new BehaviorProfileHeadPose();
// Show sensors
IBehaviorProfile ShowSonars = new BehaviorProfileShowSonars();
IBehaviorProfile ShowMic = new BehaviorProfileShowMic();
IBehaviorProfile ShowArmJoints = new BehaviorProfileRArmDOF();
IBehaviorProfile ShowArmJointsOneByOne = new BehaviorProfileRArmDOFOneByOne();
IBehaviorProfile ShowBody = new BehaviorProfileShowBody();
IBehaviorProfile ShowBiceps = new BehaviorProfileShowBiceps();
// Idle behavior
IBehaviorProfile LegRandomMove = new BehaviorProfileLegRandomMove();
IBehaviorProfile HeadRandomScan = new BehaviorProfileHeadRandomScan();
//
BehaviorGenerator = new Dictionary<string, IBehaviorProfile>();
//
// Deictic
AddBehavior("Pointing", Pointing);
AddBehavior("PointForward", PointingForward); // pointing omni
AddBehavior("PointLeft", PointingRight); // pointing omni; mirror right
AddBehavior("PointRight", PointingRight); // pointing omni
AddBehavior("PointUpRight", Pointing); // pointing omni
AddBehavior("PointUpLeft", Pointing); // pointing omni
AddBehavior("PointUp", PointingUp);
AddBehavior("PointFrontDown", PointingFrontDown);
// Direction/position/Shape
AddBehavior("LRUD", LRUD);
AddBehavior("FromAToB", FromAToB);
AddBehavior("FromAToBLeft", FromAToB);
AddBehavior("OneTheOther", OneTheOther); // used for comparing two
AddBehavior("Tiny", Tiny);
AddBehavior("WavyShape", PressDown); // TODO: not implemented yet
// Social
AddBehavior("Waving", Waving);
AddBehavior("HelloEverybody", Waving); // just waving
AddBehavior("Clap", Clap);
AddBehavior("Applaud", Applaud);
// Head-oriented
AddBehavior("Nod", Nod);
AddBehavior("No", NoShakeHead);
AddBehavior("LookAround", LookAround); // Quiz
AddBehavior("Think", Think);
AddBehavior("PhotoHeadPose", PhotoHeadPose); // for taking a photo
// Abstract
AddBehavior("HandOver", HandOver);
AddBehavior("HandOverLeft", HandOver);
AddBehavior("HandOverBoth", HandOver);
AddBehavior("PushAside", PushAside);
AddBehavior("PushAsideLeft", PushAside);
AddBehavior("PushAsideBoth", PushAside);
AddBehavior("ShowSide", ShowSide); // avoid Hitler gestre;
AddBehavior("ShowSideLeft", ShowSide);
AddBehavior("Spread", Spread); // Can be used to point right bottom
AddBehavior("SpreadLeft", Spread); // Can be used to point left bottom
AddBehavior("SpreadBoth", Spread);
AddBehavior("PressDown", PressDown);
AddBehavior("PressDownLeft", PressDown);
AddBehavior("PressDownBoth", PressDown);
AddBehavior("State", State); // ReverseCapisce (originally is left arm)
AddBehavior("StateLeft", State); // ReverseCapisce
AddBehavior("Propose", Propose); // Propose an idea
AddBehavior("ProposeLeft", Propose); // Propose an idea
AddBehavior("Capisce", Capisce); // nip 捏手指; emphasize
AddBehavior("CapisceLeft", Capisce); // nip 捏手指; emphasize
AddBehavior("RotatingCapisce", CapisceRotate); //
AddBehavior("RotatingCapisceLeft", CapisceRotate); //
// Abstract double hands only
AddBehavior("Motivate", Motivate); // originally ShakeHands
AddBehavior("Weigh", Weigh); //
AddBehavior("Convince", Convince);
AddBehavior("ConvergeHands", ConvergeHands); //
// Self-related; You
AddBehavior("Intro", Me); // TODO: add leg movements
AddBehavior("First", First);
AddBehavior("FirstMe", FirstMe);
AddBehavior("Me", Me);
AddBehavior("MeLeft", Me);
AddBehavior("YouAndMe", YouAndMe);
AddBehavior("YouAndMeLeft", YouAndMe);
AddBehavior("MeAndYou", MeAndYou);
AddBehavior("MeAndYouLeft", MeAndYou);
AddBehavior("You", PointingForward);
// Show sensors/effectors/functions
AddBehavior("ShowArmJoints", ShowArmJoints);
AddBehavior("ShowArmJointsOneByOne", ShowArmJointsOneByOne);
AddBehavior("ShowChest", ShowSonars);
AddBehavior("ShowMic", ShowMic);
AddBehavior("ShowMicLeft", ShowMic); // used for showing Tactile sensors on the head
AddBehavior("ShowBiceps", ShowBiceps);
AddBehavior("ShowBody", ShowBody);
// Torso
AddBehavior("Bow", Bow);
AddBehavior("SmallBow", SmallBow);
AddBehavior("StandHead", StandHead);
AddBehavior("HeadPose", HeadPose);
// Leg
AddBehavior("LeanRight", LeanRight);
AddBehavior("Balance", Balance);
// IdleBehavior
AddBehavior("LegRandomMove", LegRandomMove);
AddBehavior("HeadRandomScan", HeadRandomScan);
LoadCrgBehaviors();
}
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;
}
