protected override Response SyncTask(Command command)
{
bool success;
success = false;
try
{
if (command.Parameters.StartsWith("enable"))
{
spRec.Enabled = true;
success = true;
}
else if (command.Parameters.StartsWith("disable"))
{
spRec.Enabled = false;
success = true;
}
else if (command.Parameters == "toggle")
{
spRec.Enabled = !spRec.Enabled;
success = true;
}
}
catch { success = false; }
return Response.CreateFromCommand(command, success);
}
public Command GetCommand(ConnectionManager cnnMan)
{
if (!Match(cnnMan))
return null;
Command cmd = new Command(cnnMan, commandName, parameters, currentId);
if (id < -1)
++currentId;
return cmd;
}
public Response GetResponse(Command command)
{
bool success;
if (!Match(command))
return null;
success = failureRate < rnd.Next(1, 100);
Response response = Response.CreateFromCommand(command, success);
if(parameters.Length != 0)
response.Parameters = parameters;
return response;
}
protected override Response AsyncTask(Command command)
{
bool result;
string pName;
if (engine.Busy)
return Response.CreateFromCommand(command, false);
engine.SleepCapture = false;
pName = command.Parameters;
result = engine.RememberHuman(pName, 3);
return Response.CreateFromCommand(command, result);
}
protected override Response SyncTask(Command command)
{
bool result = true;
if (String.IsNullOrEmpty(command.Parameters))
command.Parameters = engine.Enabled ? "enabled" : "disabled";
else if (command.Parameters == "enabled")
engine.Start();
else if (command.Parameters == "enabled")
engine.Stop();
else
result = false;
return Response.CreateFromCommand(command, result);
}
protected override Response SyncTask(Command command)
{
SpeechRecognizer53 reco = spRec as SpeechRecognizer53;
if (spRec == null)
return Response.CreateFromCommand(command, false);
AutoSaveMode mode;
string p = String.IsNullOrEmpty(command.Parameters) ? String.Empty : command.Parameters.ToLower();
Response r = Response.CreateFromCommand(command, true);
if (TryParse(p, out mode))
reco.AutoSaveMode = mode;
r.Parameters = AutoSaveModeToString(reco.AutoSaveMode);
return r;
}
/// <summary>
/// Executes the play command
/// </summary>
/// <param name="command">Command object which contains the command to be executed</param>
/// <returns>The Response object result of provided command execution. If no response is required, must return null</returns>
/// <remarks>If the command execution is aborted the execution of this method is
/// canceled and a failure response is sent if required</remarks>
protected override Response AsyncTask(Command command)
{
bool result;
result = false;
try
{
if (File.Exists(command.Parameters))
result = audioPlayer.PlayLoop(command.Parameters);
}
catch
{
result = false;
}
return Response.CreateFromCommand(command, result);
}
protected override Response SyncTask(Command command)
{
string param = command.Parameters;
bool success = false;
try
{
switch (param)
{
case "enable":
case "enabled":
spRec.Enabled = true;
success = true;
break;
case "disable":
case "disabled":
spRec.Enabled = false;
success = true;
break;
case "get":
case "":
param = spRec.Enabled ? "enable" : "disable";
success = true;
break;
case "toggle":
spRec.Enabled = !spRec.Enabled;
param = spRec.Enabled ? "enable" : "disable";
success = true;
break;
default:
success = false;
break;
}
}
catch { success = false; }
return Response.CreateFromCommand(command, success);
}
/// <summary>
/// Executes the voice command
/// </summary>
/// <param name="command">Command object which contains the command to be executed</param>
/// <returns>The Response object result of provided command execution. If no response is required, must return null</returns>
/// <remarks>If the command execution is aborted the execution of this method is
/// canceled and a failure response is sent if required</remarks>
protected override Response SyncTask(Command command)
{
if((!command.HasParams) || (command.Parameters.ToLower() == "get"))
{
command.Parameters = spGen.SelectedVoiceName;
return Response.CreateFromCommand(command, true);
}
if (!spGen.VoiceNames.Contains(command.Parameters))
return Response.CreateFromCommand(command, false);
try
{
spGen.SelectedVoiceName = command.Parameters;
return Response.CreateFromCommand(command, true);
}
catch
{
return Response.CreateFromCommand(command, false);
}
}
protected override Response SyncTask(Command command)
{
TextBoxStreamWriter.DefaultLog.WriteLine("CmdStart: Received: " + command.StringToSend);
bool success = true;
if (command.HasParams)
{
/*if (command.Parameters.Contains("followme"))
this.hal9000Brain.StartFollowHumanTest();
else if (command.Parameters.Contains("robozoo"))
this.hal9000Brain.StartRoboZooTest();
else if (command.Parameters.Contains("openchallenge"))
this.hal9000Brain.StartOpenChallengeTest();
else if (command.Parameters.Contains("restaurant"))
this.hal9000Brain.StartRestaurant();
else success = false;*/
}
else success = false;
return Response.CreateFromCommand(command, success);
}
/// <summary>
/// Executes the play command
/// </summary>
/// <param name="command">Command object which contains the command to be executed</param>
/// <returns>The Response object result of provided command execution. If no response is required, must return null</returns>
/// <remarks>If the command execution is aborted the execution of this method is
/// canceled and a failure response is sent if required</remarks>
protected override Response AsyncTask(Command command)
{
bool result;
result = false;
try
{
if (File.Exists(command.Parameters))
{
if (audioPlayer.IsPlaying || (audioPlayer.Pending > 0))
result = false;
else
result = audioPlayer.PlaySync(command.Parameters);
}
}
catch
{
result = false;
}
return Response.CreateFromCommand(command, result);
}
protected override Response SyncTask(Command command)
{
Response response;
string param = command.Parameters;
this.CommandManager.Busy = true;
if ((param == "") || (param == "get"))
{
command.Parameters = spRec.HasGrammar ? spRec.GrammarFile : "none";
response = Response.CreateFromCommand(command, true);
}
else
{
bool result;
try { result = spRec.LoadGrammar(param); }
catch { result = false; }
response = Response.CreateFromCommand(command, result);
}
this.CommandManager.Busy = false;
return response;
}
protected override Response SyncTask(Command command)
{
return Response.CreateFromCommand(command, false);
/*
Match m;
bool result;
string[] words;
int timeOut;
m = rxWordExtractor.Match(command.Parameters);
if (!m.Success)
return Response.CreateFromCommand(command, false);
try
{
words = m.Result("${words}").Split(',');
timeOut = Int32.Parse(m.Result("${timeOut}"));
frmSpRec.AddToExpectedPhraseList(words, timeOut);
result = true;
}
catch { result = false; }
return Response.CreateFromCommand(command, result);
*/
}
/// <summary>
/// Request arm to open the grip
/// </summary>
/// <param name="percentage">Percentage aperture of the grip</param>
/// <param name="timeOut">Amout of time to wait for an arm response in milliseconds</param>
/// <returns>true if arm opened the grip. false otherwise</returns>
public virtual bool OpenGrip(int percentage, int timeOut)
{
// Stores the command to be sent to arm
Command cmdOpenGrip;
// Stores the response from arm and the candidate while moving
Response rspOpenGrip = null;
// 1. Prepare the command
if (!GetResource()) return false;
if ((percentage >= 0) && (percentage <= 100))
cmdOpenGrip = new Command(sgnArmOpenGrip.CommandName, percentage.ToString(), CmdMan.AutoId++);
else
{
cmdOpenGrip = new Command(sgnArmOpenGrip.CommandName, "", CmdMan.AutoId++);
percentage = -1;
}
// 2. Send the armOpenGrip command
CmdMan.Console("\tOpening arm grip to [" + percentage.ToString() + "%]");
if (!CmdMan.SendAndWait(cmdOpenGrip, timeOut, out rspOpenGrip))
{
// 2.1. Cant send socket. Operation canceled.
CmdMan.Console("\tCan't send command. Operation canceled");
FreeResource();
return false;
}
// 3. End of move
FreeResource();
// 3.2. Parse head response
if (!rspOpenGrip.Success)
{
// 3.2. Failed response
CmdMan.Console("\tArm did not move");
return false;
}
CmdMan.Console("\tOpen arm grip complete");
return true;
}
/// <summary>
/// Request arm to move to the specified position relative to its current position
/// </summary>
/// <param name="x">Relative x coordinate position of the actuator of the arm.</param>
/// <param name="y">Relative y coordinate position of the actuator of the arm.</param>
/// <param name="z">Relative z coordinate position of the actuator of the arm.</param>
/// <param name="timeOut">Amout of time to wait for an arm response in milliseconds</param>
/// <returns>true if arm moved to specified position. false otherwise</returns>
public virtual bool SetRelativePosition(ref double x, ref double y, ref double z, int timeOut)
{
// Stores the command to be sent to arm
Command cmdArmRelPos;
// Stores the response from arm and the candidate while moving
Response rspArmRelPos = null;
// 1. Prepare the command
if (!GetResource()) return false;
string parameters =
x.ToString("0.00") + " " +
y.ToString("0.00") + " " +
z.ToString("0.00");
cmdArmRelPos = new Command(sgnArmSetRelPos.CommandName, parameters, CmdMan.AutoId++);
// 2. Send the armSetRelPos command
CmdMan.Console("\tMoving arm to relative position " + parameters);
if (!CmdMan.SendAndWait(cmdArmRelPos, timeOut, out rspArmRelPos))
{
// 2.1. Cant send socket. Operation canceled.
CmdMan.Console("\tCan't send command. Operation canceled");
FreeResource();
return false;
}
// 3. End of move
FreeResource();
// 3.1. Parse arm response
if (!rspArmRelPos.Success)
{
// 3.2. Failed response
CmdMan.Console("\tArm did not move");
return false;
}
// 4.0 Recover values from response
SignatureAnalysisResult saResult = sgnArmSetRelPos.Analyze(rspArmRelPos);
if (saResult.Success)
{
saResult.Update<double>(0, ref x);
saResult.Update<double>(1, ref y);
saResult.Update<double>(2, ref z);
}
CmdMan.Console("\tMoving arm to position complete");
return true;
}
/// <summary>
/// Request arm to move to the specified orientation
/// </summary>
/// <param name="roll">Angle of rotation about the X-axis of the actuator of the arm.</param>
/// <param name="pitch">Angle of rotation about the Y-axis of the actuator of the arm.</param>
/// <param name="yaw">Angle of rotation about the Z-axis of the actuator of the arm.</param>
/// <param name="timeOut">Amout of time to wait for an arm response in milliseconds</param>
/// <returns>true if arm moved to the specified orientation. false otherwise</returns>
public virtual bool GetOrientation(out double roll, out double pitch, out double yaw, int timeOut)
{
// Stores the command to be sent to arm
Command cmdArmOrientation;
// Stores the response from arm and the candidate while moving
Response rspArmOrientation = null;
bool result;
roll = 0;
pitch = 0;
yaw = 0;
// 1. Prepare the command
if (!GetResource()) return false;
string parameters = "";
cmdArmOrientation = new Command(sgnArmGetOrientation.CommandName, parameters, CmdMan.AutoId++);
// 2. Send the armAbsPos command
CmdMan.Console("\tReading arm orientation " + parameters);
if (!CmdMan.SendAndWait(cmdArmOrientation, timeOut, out rspArmOrientation))
{
// 2.1. Cant send socket. Operation canceled.
CmdMan.Console("\tCan't send command. Operation canceled");
FreeResource();
return false;
}
// 3. End of move
FreeResource();
// 3.1. Parse arm response
if (!rspArmOrientation.Success)
{
// 3.2. Failed response
CmdMan.Console("\tArm did not respond");
return false;
}
// 4.0 Recover values from response
SignatureAnalysisResult saResult = sgnArmGetAbsPos.Analyze(rspArmOrientation);
result = saResult.Success &&
(saResult.ParameterCount == 3) &&
(saResult.Update<double>(0, ref roll) &
saResult.Update<double>(1, ref pitch) &
saResult.Update<double>(2, ref yaw));
if (!result)
CmdMan.Console("\tInvalid response");
else
CmdMan.Console("\tGet arm position complete");
return result;
}
/// <summary>
/// Moves the arm through a secuence of positions
/// </summary>
/// <param name="movement">The name of the movement to perform</param>
/// <param name="timeOut">Amout of time to wait for an arm response in milliseconds</param>
/// <returns>true if arm executed the specified movement. false otherwise</returns>
public virtual bool Move(string movement, int timeOut)
{
// Stores the command to be sent to arm
Command cmdMoveArm;
// Stores the response from arm and the candidate while moving
Response rspMoveArm = null;
// 1. Prepare the command
if (!GetResource())
return false;
cmdMoveArm = new Command(sgnArmMove.CommandName, movement, CmdMan.AutoId++);
// 2. Send the armGoto command
CmdMan.Console("\tMoving arm to position [" + movement + "]");
if (!CmdMan.SendAndWait(cmdMoveArm, timeOut, out rspMoveArm))
{
// 2.1. Cant send socket. Operation canceled.
CmdMan.Console("\tCan't send command. Operation canceled");
FreeResource();
return false;
}
// 3. End of move
FreeResource();
// 3.1. Parse head response
if (!rspMoveArm.Success)
{
// 3.2. Failed response
CmdMan.Console("\tArm did not move");
return false;
}
CmdMan.Console("\tMoving arm to position complete");
return true;
}
public bool Match(Command command)
{
if(command == null)
return false;
return (((module == "[ANY]") || (module == command.SourceModule)) && (commandName == command.CommandName));
}
public JustinaCmdAndResp(string cmdName)
{
this.command = new Command(cmdName, "");
this.response = Response.CreateFromCommand(this.command, false);
this.isResposeReceived = false;
}
private void commandManager_CommandReceived(Command command)
{
Console.WriteLine("Received command: " + command.ToString());
}
/// <summary>
/// Request the manipulator aperture pecentage and tilt angle
/// </summary>
/// <param name="aperturePercentage">Percentage aperture of the gripper of the manipulator.</param>
/// <param name="tilt">Tilt angle of the manipulator.</param>
/// <param name="timeOut">Amout of time to wait for an man response in milliseconds</param>
/// <returns>true if data fetch was successfully. false otherwise</returns>
public virtual bool Status(out int aperturePercentage, out double tilt, int timeOut)
{
// Stores the command to be sent to man
Command cmdStatus;
// Stores the response from man and the candidate while moving
Response rspStatus = null;
bool result;
aperturePercentage = 0;
tilt = 0;
// 1. Prepare the command
if (!GetResource()) return false;
string parameters = "";
cmdStatus = new Command(sgnStatus.CommandName, parameters, CmdMan.AutoId++);
// 2. Send the manAbsPos command
CmdMan.Console("\tReading man orientation " + parameters);
if (!CmdMan.SendAndWait(cmdStatus, timeOut, out rspStatus))
{
// 2.1. Cant send socket. Operation canceled.
CmdMan.Console("\tCan't send command. Operation canceled");
FreeResource();
return false;
}
// 3. End of move
FreeResource();
// 3.1. Parse man response
if (!rspStatus.Success)
{
// 3.2. Failed response
CmdMan.Console("\tManipulator did not respond");
return false;
}
// 4.0 Recover values from response
SignatureAnalysisResult saResult = sgnStatus.Analyze(rspStatus);
result = saResult.Success &&
(saResult.ParameterCount == 2) &&
(saResult.Update<int>(0, ref aperturePercentage) &
saResult.Update<double>(1, ref tilt));
if (!result)
CmdMan.Console("\tInvalid response");
else
CmdMan.Console("\tGet man position complete");
return result;
}
/// <summary>
/// Executes the provided command
/// </summary>
/// <param name="command">Command object which contains the command to be executed</param>
/// <remarks>If the command execution is aborted a failure response is sent if required</remarks>
public override sealed void Execute(Command command)
{
// 1. Check busy state and parameters
#region Busy check
if (Busy)
{
if (ResponseRequired)
SendResponse(false, command);
return;
}
#endregion
#region No params provided
if (ParametersRequired && !command.HasParams)
{
SendResponse(false, command);
return;
}
#endregion
// 2. Set execution flags
busy = true;
running = true;
// 3. Create default failed response
Response response = Response.CreateFromCommand(command, false);
// 4. Raise ExecutionStarted event
OnExecutionStarted(command);
// 5. Perform command execution
response = SyncTask(command);
// 6. If a null response is provided (and required), generate failure response
if (ResponseRequired && (response == null))
response = Response.CreateFromCommand(command, false);
// 7. Send the result of command execution (if any)
if (response != null) SendResponse(response);
// 8. Reset execution flags
busy = false;
running = false;
// 9. Raise ExecutionFinished event
OnExecutionFinished(command, response);
}
/// <summary> /// When overriden executes the provided command /// </summary> /// <param name="command">Command object which contains the command to be executed</param> /// <returns>The Response object result of provided command execution. If no response is required, must return null</returns> /// <remarks>If the command execution is aborted the execution of this method is /// canceled and a failure response is sent if required</remarks> protected abstract Response SyncTask(Command command);
/// <summary>
/// Sends a command through the asociated ConnectionManager of the CommandExecuter object that this instance of CommandExecuter is bound to
/// </summary>
/// <param name="command">Command to be sent</param>
/// <returns>true if command was sent and its response received. false otherwise</returns>
protected bool SendCommand(Command command)
{
if (cmdMan == null) return false;
return cmdMan.SendCommand(command);
}
/// <summary>
/// Converts the string representation of a command to a Command object.
/// A return value indicates whether the conversion succeded or not.
/// <param name="source">The IMessageSource object source of the command parsed</param>
/// <param name="s">A string containing the command to convert</param>
/// <param name="result">When this method returns, contains the Command equivalent to the command
/// contained in s, if the conversion succeeded, or null if the conversion failed.
/// The conversion fails if the s parameter is a null reference (Nothing in Visual Basic) or is not of the correct format.
/// This parameter is passed uninitialized</param>
/// </summary>
/// <returns>true if conversion was successfull, false otherwise</returns>
public static bool TryParse(IMessageSource source, string s, out Command result)
{
result = null;
Regex rx;
Match m;
//ModuleClient source;
//ModuleClient destination;
string sCommand;
string sParams;
string sSrc;
string sDest;
string sId;
int id;
// Regular Expresion Generation
rx = rxParse;
m = rx.Match(s);
// Check if input string matchs Regular Expression
if (!m.Success)
return false;
// Extract Data
sCommand = m.Result("${cmd}").ToLower();
sParams = m.Result("${params}");
sId = m.Result("${id}");
sSrc = m.Result("${src}");
if ((source != null) && ((sSrc == null) || (sSrc == "")))
sSrc = source.ModuleName;
sDest = ""; // m.Result("${dest}");
if ((sId == null) || (sId.Length < 1)) id = -1;
else id = Int32.Parse(sId);
// Check if command matchs a prototype
sParams = sParams.Replace("\\\"", "\"");
result = new Command(sSrc, sDest, sCommand, sParams, id);
result.MessageSource = source;
//cmd.sentTime = DateTime.Now;
return true;
}
protected override Response SyncTask(Command command)
{
TextBoxStreamWriter.DefaultLog.WriteLine("CmdRecognized: Received but no enqueued: " + command.StringToSend);
//this.hal9000Brain.RecognizedSentences.Enqueue(command.Parameters);
return Response.CreateFromCommand(command, true);
}
protected override Response SyncTask(Command command)
{
// TODO: Close the application
return null;
}
/// <summary>
/// Initializes a new CommandResponsePair
/// </summary>
/// <param name="command">Asociated Command object</param>
/// <param name="response">Asociated Response object</param>
public CommandResponsePair(Command command, Response response)
{
this.command = command;
this.response = response;
}
/// <summary>
/// Request manipulator to move to the specified tilt angle in radians
/// </summary>
/// <param name="tilt">The specified tilt angle in radians</param>
/// <param name="timeOut">Amout of time to wait for an man response in milliseconds</param>
/// <returns>true if manipulator moved to specified tilt. false otherwise</returns>
public virtual bool Tilt(ref double tilt, int timeOut)
{
// Stores the command to be sent to man
Command cmdTilt;
// Stores the response from man and the candidate while moving
Response rspTilt = null;
bool result;
// 1. Prepare the command
if (!GetResource())
return false;
cmdTilt = new Command(sgnTilt.CommandName, tilt.ToString("0.00"), CmdMan.AutoId++);
// 2. Send the manGoto command
CmdMan.Console("\tSetting manipulator tilt [" + tilt + "]");
if (!CmdMan.SendAndWait(cmdTilt, timeOut, out rspTilt))
{
// 2.1. Cant send socket. Operation canceled.
CmdMan.Console("\tCan't send command. Operation canceled");
FreeResource();
return false;
}
// 3. End of move
FreeResource();
// 3.1. Parse manipulator response
if (!rspTilt.Success)
{
// 3.2. Failed response
CmdMan.Console("\tManipulator did not move");
return false;
}
// 4.0 Recover values from response
SignatureAnalysisResult saResult = sgnTilt.Analyze(rspTilt);
result = saResult.Success &&
(saResult.ParameterCount == 1) &&
(saResult.Update<double>(0, ref tilt));
if (!result)
CmdMan.Console("\tInvalid response");
else
CmdMan.Console("\tSet manipulator tilt complete");
return result;
}
/// <summary>
/// Request manipulator to open the grip
/// </summary>
/// <param name="percentage">Percentage aperture of the grip</param>
/// <param name="timeOut">Amout of time to wait for an man response in milliseconds</param>
/// <returns>true if manipulator opend the grip. false otherwise</returns>
public virtual bool OpenGrip(ref int percentage, int timeOut)
{
// Stores the command to be sent to man
Command cmdOpenGrip;
// Stores the response from man and the candidate while moving
Response rspOpenGrip = null;
bool result;
// 1. Prepare the command
if (!GetResource()) return false;
if ((percentage >= 0) || (percentage <= 100))
cmdOpenGrip = new Command(sgnOpenGrip.CommandName, percentage.ToString(), CmdMan.AutoId++);
else
{
cmdOpenGrip = new Command(sgnOpenGrip.CommandName, "", CmdMan.AutoId++);
percentage = 50;
}
// 2. Send the manOpenGrip command
CmdMan.Console("\tClosing manipulator grip to [" + percentage.ToString() + "%]");
if (!CmdMan.SendAndWait(cmdOpenGrip, timeOut, out rspOpenGrip))
{
// 2.1. Cant send socket. Operation canceled.
CmdMan.Console("\tCan't send command. Operation canceled");
FreeResource();
return false;
}
// 3. End of move
FreeResource();
// 3.1. Parse manipulator response
if (!rspOpenGrip.Success)
{
// 3.2. Failed response
CmdMan.Console("\tManipulator did not move");
return false;
}
// 4.0 Recover values from response
SignatureAnalysisResult saResult = sgnOpenGrip.Analyze(rspOpenGrip);
result = saResult.Success &&
(saResult.ParameterCount == 1) &&
(saResult.Update<int>(0, ref percentage));
if (!result)
CmdMan.Console("\tInvalid response");
else
CmdMan.Console("\tOpen manipulator grip complete");
return result;
}
