/// <summary>
/// Speech recognized handler
/// </summary>
/// <param name="recognized"></param>
private void SpeechRecognizedHandler(sr.SpeechRecognized recognized)
{
TimeSpan sinceTalk = DateTime.Now - Talker.lastSpoken;
if (sinceTalk.TotalSeconds < SpeechRecognizerTalkerBlackoutSec)
{
Tracer.Trace("SpeechRecognizedHandler in blackout at " + sinceTalk.TotalSeconds + " sec");
return;
}
int angle = Direction.to180fromRad(-recognized.Body.Angle);
string commandText = recognized.Body.Text;
string commandSemantics = recognized.Body.Semantics.ValueString;
double confidence = Math.Round(recognized.Body.Confidence, 3); // 0 to 1, usually around 0.97 for successfully recognized commands
//Tracer.Trace("**************************************** SpeechRecognizedHandler **************************************** ");
//Tracer.Trace("speech '" + commandText + "'=>'" + commandSemantics + "' at " + angle + " degrees, confidence " + confidence);
// find the handler based on semantics:
SpeechRecognizerDictionaryItem srdi = (from di in speechRecognizerDictionary
where di.semantics == commandSemantics
select di).FirstOrDefault();
// usually Confidence is 0.95-0.99
if (srdi != null && recognized.Body.Confidence > srdi.minimumRequiredConfidence)
{
VoiceCommandState state = _state.VoiceCommandState;
state.TimeStamp = DateTime.Now;
state.Text = commandText;
state.Semantics = commandSemantics;
state.ConfidencePercent = (int)Math.Round(confidence * 100.0f);
state.Direction = angle;
LogHistory(1, "speech '" + commandText + "'=>'" + commandSemantics + "' at " + angle + " deg, " + confidence);
// now call the handler:
srdi.handler(srdi, angle);
}
else if (confidence > 0.5d)
{
LogHistory(3, "rejected '" + commandText + "'=>'" + commandSemantics + "' at " + angle + " deg, " + confidence);
Talker.Say(10, "Homm"); // not enough confidence
}
//setPan(angle);
//setTilt(0);
}
public void Init()
{
Dropping = false;
IsTurning = false;
LastTurnStarted = DateTime.MinValue;
LastTurnCompleted = DateTime.MinValue;
if (WheelsEncoderState == null)
{
WheelsEncoderState = new WheelsEncoderState();
}
if (collisionState == null)
{
collisionState = new CollisionState();
}
if (gpsState == null)
{
gpsState = new GpsState();
}
if (MostRecentAnalogValues == null)
{
MostRecentAnalogValues = new proxibrick.AnalogDataDssSerializable()
{
TimeStamp = DateTime.MinValue
};
}
MostRecentLaserTimeStamp = DateTime.Now;
if (VoiceCommandState == null)
{
VoiceCommandState = new VoiceCommandState();
}
int MAX_HUMANS_TO_TRACK = 7; // FrameProcessor preallocates 7
HumanInteractionStates = new HumanInteractionState[MAX_HUMANS_TO_TRACK];
for (int i = 0; i < HumanInteractionStates.Length; i++)
{
HumanInteractionStates[i] = new HumanInteractionState();
}
if (followDirectionPidControllerAngularSpeed == null)
{
followDirectionPidControllerAngularSpeed = new PIDController()
{
Name = "AngularSpeed",
MaxIntegralError = 180.0d, // degrees; anything more causes controller reset (error too large)
MaxUpdateIntervalSec = 10.0d, // ms; anything more causes controller reset (interval too long)
MaxPidValue = 100.0d, // pid factor upper limit
MinPidValue = 0.0d, // pid factor lower limit
Kp = PIDController.ProportionalGainDefault, // Proportional constant, 3.0
Ki = PIDController.IntegralGainDefault, // Integral constant, 0.1
Kd = PIDController.DerivativeGainDefault // Derivative constant, 0.5
};
}
if (followDirectionPidControllerLinearSpeed == null)
{
followDirectionPidControllerLinearSpeed = new PIDController()
{
Name = "LinearSpeed",
MaxIntegralError = 2000.0d, // mm/sec; anything more causes controller reset (error too large)
MaxUpdateIntervalSec = 10.0d, // ms; anything more causes controller reset (interval too long)
MaxPidValue = 1000.0d, // pid factor upper limit
MinPidValue = 0.0d, // pid factor lower limit
Kp = PIDController.ProportionalGainDefault, // Proportional constant, 3.0
Ki = PIDController.IntegralGainDefault, // Integral constant, 0.1
Kd = PIDController.DerivativeGainDefault // Derivative constant, 0.5
};
}
if (PowerScale == 0.0d)
{
PowerScale = 0.5d;
}
}
public void Init()
{
Dropping = false;
IsTurning = false;
LastTurnStarted = DateTime.MinValue;
LastTurnCompleted = DateTime.MinValue;
if (WheelsEncoderState == null)
{
WheelsEncoderState = new WheelsEncoderState();
}
if (collisionState == null)
{
collisionState = new CollisionState();
}
if (gpsState == null)
{
gpsState = new GpsState();
}
if (MostRecentAnalogValues == null)
{
MostRecentAnalogValues = new proxibrick.AnalogDataDssSerializable() { TimeStamp = DateTime.MinValue };
}
MostRecentLaserTimeStamp = DateTime.Now;
if (VoiceCommandState == null)
{
VoiceCommandState = new VoiceCommandState();
}
int MAX_HUMANS_TO_TRACK = 7; // FrameProcessor preallocates 7
HumanInteractionStates = new HumanInteractionState[MAX_HUMANS_TO_TRACK];
for (int i = 0; i < HumanInteractionStates.Length; i++)
{
HumanInteractionStates[i] = new HumanInteractionState();
}
if (followDirectionPidControllerAngularSpeed == null)
{
followDirectionPidControllerAngularSpeed = new PIDController()
{
Name = "AngularSpeed",
MaxIntegralError = 180.0d, // degrees; anything more causes controller reset (error too large)
MaxUpdateIntervalSec = 10.0d, // ms; anything more causes controller reset (interval too long)
MaxPidValue = 100.0d, // pid factor upper limit
MinPidValue = 0.0d, // pid factor lower limit
Kp = PIDController.ProportionalGainDefault, // Proportional constant, 3.0
Ki = PIDController.IntegralGainDefault, // Integral constant, 0.1
Kd = PIDController.DerivativeGainDefault // Derivative constant, 0.5
};
}
if (followDirectionPidControllerLinearSpeed == null)
{
followDirectionPidControllerLinearSpeed = new PIDController()
{
Name = "LinearSpeed",
MaxIntegralError = 2000.0d, // mm/sec; anything more causes controller reset (error too large)
MaxUpdateIntervalSec = 10.0d, // ms; anything more causes controller reset (interval too long)
MaxPidValue = 1000.0d, // pid factor upper limit
MinPidValue = 0.0d, // pid factor lower limit
Kp = PIDController.ProportionalGainDefault, // Proportional constant, 3.0
Ki = PIDController.IntegralGainDefault, // Integral constant, 0.1
Kd = PIDController.DerivativeGainDefault // Derivative constant, 0.5
};
}
if (PowerScale == 0.0d)
{
PowerScale = 0.5d;
}
}
