/// <summary>
/// Get the assets and startup some timers to do random movements and other things...
/// </summary>
/// <param name="parameters"></param>
public async void OnStart(object sender, IDictionary<string, object> parameters)
{
try
{
//Get the audio and image lists for use in the skill
_audioList = (await _misty.GetAudioListAsync())?.Data;
_imageList = (await _misty.GetImageListAsync())?.Data;
_misty.Wait(2000);
_misty.PlayAudio("s_Awe.wav", 100, null);
_misty.ChangeLED(255, 255, 255, null);
_misty.DisplayImage("e_ContentRight.jpg", 1, null);
RegisterEvents();
//_heartbeatTimer = new Timer(HeartbeatCallback, null, 3000, 3000);
_moveHeadTimer = new Timer(MoveHeadCallback, null, 10000, 10000);
_moveArmsTimer = new Timer(MoveArmCallback, null, 10000, 10000);
_ledTimer = new Timer(ChangeLEDCallback, null, 2000, 2000);
}
catch (Exception ex)
{
_misty.SkillLogger.Log($"ForceDriving : OnStart: => Exception", ex);
}
}
/// <summary>
/// Loop through some head, arm, image and led actions
/// </summary>
/// <param name="parameters"></param>
public void OnStart(object sender, IDictionary <string, object> parameters)
{
try
{
//These calls assume system assets on the robot at the time of writing,
//update as needed for new or different assets or as an exercise to allow user to pass in asset names :)
//This loop could also be accomplished with a timed callback
while (_misty.Wait(5000))
{
_misty.PlayAudio("s_Acceptance.wav", 100, null);
_misty.MoveHead(45, 25, 0, 50, AngularUnit.Degrees, null);
_misty.MoveArms(0, 45, 25, 60, null, AngularUnit.Degrees, null);
_misty.ChangeLED(0, 255, 0, null);
_misty.DisplayImage("e_Disoriented.jpg", 1, null);
//Pause for 4 seconds, if the cancellation token is set during this time, exit the pause and the method
if (!_misty.Wait(4000))
{
return;
}
_misty.PlayAudio("s_Awe2.wav", 100, null);
_misty.MoveHead(-10, 15, 30, 50, AngularUnit.Degrees, null);
_misty.MoveArms(-45, 0, 60, 60, null, AngularUnit.Degrees, null);
_misty.ChangeLED(0, 255, 255, null);
_misty.DisplayImage("e_ContentRight.jpg", 1, null);
//Pause for 3.5 seconds, if the cancellation token is set during this time, exit the pause and the method
if (!_misty.Wait(3500))
{
return;
}
_misty.PlayAudio("s_Joy.wav", 100, null);
_misty.MoveHead(75, 25, 10, 50, AngularUnit.Degrees, null);
_misty.MoveArms(-45, 45, 60, 60, null, AngularUnit.Degrees, null);
_misty.ChangeLED(255, 255, 255, null);
_misty.DisplayImage("e_ContentLeft.jpg", 1, null);
//Pause for 2.5 seconds, if the cancellation token is set during this time, exit the pause and the method
if (!_misty.Wait(2500))
{
return;
}
_misty.PlayAudio("s_Joy.wav", 100, null);
_misty.MoveHead(65, 0, -10, 50, AngularUnit.Degrees, null);
_misty.MoveArms(0, -45, 60, 60, null, AngularUnit.Degrees, null);
_misty.ChangeLED(0, 0, 255, null);
_misty.DisplayImage("e_Joy.jpg", 1, null);
}
}
catch (Exception ex)
{
_misty.SkillLogger.Log($"HelloAgainWorldSkill : OnStart: => Exception", ex);
}
}
private void Ewww()
{
int soundNumber = _random.Next(1, 5);
switch (soundNumber)
{
case 1:
_misty.PlayAudio("Fart-Common-Everyday-Fart_Mike-Koenig.wav", null, null);
_assetWrapper.ShowSystemImage(SystemImage.Surprise);
_misty.Wait(2000);
_assetWrapper.PlaySystemSound(SystemSound.PhraseOopsy);
break;
case 2:
_misty.PlayAudio("Quick Fart-SoundBible.com-655578646.wav", null, null);
_assetWrapper.ShowSystemImage(SystemImage.JoyGoofy2);
break;
case 3:
_misty.PlayAudio("Silly_Farts-Joe-1473367952.wav", null, null);
_assetWrapper.ShowSystemImage(SystemImage.TerrorRight);
_misty.Wait(3000);
_assetWrapper.PlaySystemSound(SystemSound.PhraseUhOh);
break;
case 4:
_misty.PlayAudio("Belch-Kevan-136688254.wav", null, null);
_assetWrapper.ShowSystemImage(SystemImage.Disgust);
_misty.Wait(3000);
break;
}
}
public void OnStart(object sender, IDictionary <string, object> parameters)
{
Task.Run(async() =>
{
_skillHelper = new SkillHelper(_misty);
await Task.Delay(3000);
// Load the path to follow.
_followPath = new FollowPath(_misty, _skillHelper);
List <IFollowPathCommand> commands = await _followPath.LoadCommandsAsync(PATH_FILE_NAME, MyDelegateAsync);
// Follow the path
await _followPath.DriveAsync(commands);
// Dock
await _skillHelper.DisableHazardSystemAsync();
// Dock
#if MAP_DOCK
bool started = await DockAlignAsync();
if (started)
{
await _skillHelper.TurnAsync(180);
_misty.DriveHeading(0, .6, 3000, true, OnResponse);
await Task.Delay(4000);
_misty.DriveHeading(0, .2, 1000, true, OnResponse);
await Task.Delay(2000);
_misty.PlayAudio("s_Awe.wav", 100, OnResponse);
}
#else
_docker = new ChargerDock(_misty, _skillHelper, HEAD_PITCH_OFFSET, HEAD_ROLL_OFFSET, HEAD_YAW_OFFSET);
await _docker.DockAsync();
#endif
await _skillHelper.EnableHazardSystemAsync();
await Task.Delay(30000);
Cleanup();
});
}
/// <summary>
/// Drive straight for the specified distance in meters at a medium speed.
/// Confirm movement with encoder values and retry if needed.
/// If stopped due to a hazard wait a little bit for it to go away and then continue.
/// </summary>
/// <param name="distance"></param>
/// <param name="slow"></param>
public async Task <bool> DriveAsync(double distance, bool slow = false)
{
if (Math.Abs(distance) < 0.001)
{
return(true);
}
bool success = true;
try
{
// Clear encoder values.
int maxWait = 0;
while (_leftEncoderValue != 0 && maxWait++ < 10)
{
_misty.DriveHeading(0, 0, 100, false, OnResponse);
await Task.Delay(200);
}
if (_leftEncoderValue != 0)
{
LogMessage("Failed to reset encoder values.");
return(false);
}
_leftEncoderValues = new ConcurrentQueue <double>();
_stopHazardLatching = false;
bool driving = true;
bool sendCommand = true;
maxWait = 0;
while (driving)
{
if (sendCommand)
{
// Arbitrary medium speed based upon distance.
int duration = (int)(500 + Math.Abs(distance) * 2500);
if (slow)
{
duration = 2 * duration;
}
LogMessage($"Sending drive command with a distance of {distance:f3} meters and a duration of {duration} ms.");
while (!_leftEncoderValues.IsEmpty) // Clearing the encoder queue
{
_leftEncoderValues.TryDequeue(out double r);
}
_misty.DriveHeading(0, Math.Abs(distance), duration, distance < 0, OnResponse);
sendCommand = false;
await Task.Delay(1000);
}
if (_abort)
{
return(false);
}
await Task.Delay(1000);
// Check that we really moved and if we're done.
// Drive command could have been dropped and/or a hazard could have stopped the robot.
double[] encoderValues = _leftEncoderValues.ToArray();
if (encoderValues.Length > 1) // encoder values should be arriving at 5Hz.
{
double distanceDriven = Math.Abs(encoderValues[encoderValues.Length - 1] / 1000.0);
//LogMessage($"Distance driven: {distanceDriven}.");
if (distanceDriven > Math.Abs(0.99 * distance) ||
Math.Abs(distanceDriven - Math.Abs(distance)) < 0.1)
{
LogMessage($"Completed drive with distance of {_leftEncoderValue / 1000.0:f3} meters.");
driving = false;
}
else
{
// Not there yet. Everything progressing okay?
if (_stopHazardLatching)
{
// We've stopped due to a hazard. Wait a bit for it to go away.
LogMessage("Drive command paused for hazard.");
_misty.PlayAudio("s_anger.wav", 100, OnResponse);
int maxHazardWait = 0;
while (_stopHazardState && maxHazardWait++ < 30)
{
if (_abort)
{
return(false);
}
await Task.Delay(1000);
}
if (_stopHazardState)
{
// Still in hazard state. Give up.
LogMessage("Giving up on drive command due to persistent hazard condition.");
success = false;
driving = false;
}
else
{
// We're out of hazard state.
LogMessage("Out of hazard state.");
distance -= encoderValues[encoderValues.Length - 1] / 1000.0;
_stopHazardLatching = false;
sendCommand = true;
}
}
if (encoderValues.Length > 2 && Math.Abs(encoderValues[encoderValues.Length - 1] - encoderValues[encoderValues.Length - 2]) < 0.0001)
{
// Encoder value not changing. Need to send drive command again.
LogMessage($"Encoder values not changing. Distance driven so far is {distanceDriven}.");
distance -= encoderValues[encoderValues.Length - 1] / 1000.0;
sendCommand = true;
}
}
}
else
{
// Something is wrong if we get here.
// For now, just continue and hope for the best :).
LogMessage("Not receiving encoder messages. Can't verify drive commands.");
}
}
}
catch (Exception ex)
{
LogMessage("Exception occurred within DriveAsync: " + ex.Message);
success = false;
}
finally
{
_leftEncoderValues = null;
}
return(success);
}
/// <summary>
/// Simple method wrapper to help with playing system audio
/// </summary>
public void PlaySystemSound(SystemSound sound)
{
_misty.PlayAudio($"s_{sound.ToString()}.wav", null, null);
}
/// <summary>
/// Get the assets and startup some timers to do random movements and other things...
/// </summary>
/// <param name="parameters"></param>
public async void OnStart(object sender, IDictionary <string, object> parameters)
{
try
{
var deviceInfo = await _misty.GetDeviceInformationAsync();
if (!_misty.Wait(0))
{
return;
}
//Get the audio and image lists for use in the skill
_audioList = (await _misty.GetAudioListAsync())?.Data;
if (!_misty.Wait(0))
{
return;
}
_imageList = (await _misty.GetImageListAsync())?.Data;
if (!_misty.Wait(0))
{
return;
}
if (_audioList != null && _audioList.Count > 0)
{
AudioDetails randomAudio = _audioList[_randomGenerator.Next(0, _audioList.Count - 1)];
_misty.PlayAudio(randomAudio.Name, 100, null);
}
if (_imageList != null && _imageList.Count > 0)
{
ImageDetails randomImage = _imageList[_randomGenerator.Next(0, _imageList.Count - 1)];
_misty.DisplayImage(randomImage.Name, 1, null);
}
if (!_misty.Wait(2000))
{
return;
}
_misty.ChangeLED(255, 255, 255, null);
//Register a number of events
_misty.RegisterAudioPlayCompleteEvent(AudioPlayCallback, 0, true, null, null);
_misty.RegisterCapTouchEvent(CapTouchCallback, 0, true, null, null, null);
_misty.RegisterKeyPhraseRecognizedEvent(KeyPhraseRecognizedCallback, 250, true, null, null);
_misty.StartKeyPhraseRecognition(null);
_misty.StartFaceRecognition(null);
//Create an event with a specific name so we can unregister it when needed using that name
_misty.RegisterBumpSensorEvent(BumpCallback, 0, true, null, "MyBumpSensorName", null);
//Register face rec with keepAlive = false, it will need to be reregistered after triggering if the user wants it to run again
_misty.RegisterFaceRecognitionEvent(FaceRecCallback, 0, false, null, null, null);
//Play audio indicator that the event registration state has changed
if (_audioList != null && _audioList.Count > 0)
{
AudioDetails randomAudio = _audioList[_randomGenerator.Next(0, _audioList.Count - 1)];
_misty.PlayAudio(randomAudio.Name, 100, null);
await Task.Delay(1000);
_misty.PlayAudio(randomAudio.Name, 100, null);
}
if (!_misty.Wait(30000))
{
return;
}
//Unregister the bump sensor
_misty.UnregisterEvent("MyBumpSensorName", UnregisterCallback);
//Play audio indicator that the event registration state has changed
if (_audioList != null && _audioList.Count > 0)
{
AudioDetails randomAudio = _audioList[_randomGenerator.Next(0, _audioList.Count - 1)];
_misty.PlayAudio(randomAudio.Name, 100, null);
await Task.Delay(1000);
_misty.PlayAudio(randomAudio.Name, 100, null);
}
if (!_misty.Wait(20000))
{
return;
}
//Unregister ALL events
_misty.UnregisterAllEvents(UnregisterCallback);
//Play audio indicator that the event registration state has changed
if (_audioList != null && _audioList.Count > 0)
{
AudioDetails randomAudio = _audioList[_randomGenerator.Next(0, _audioList.Count - 1)];
_misty.PlayAudio(randomAudio.Name, 100, null);
await Task.Delay(1000);
_misty.PlayAudio(randomAudio.Name, 100, null);
}
if (!_misty.Wait(20000))
{
return;
}
//Play audio indicator that the event registration state has changed
if (_audioList != null && _audioList.Count > 0)
{
AudioDetails randomAudio = _audioList[_randomGenerator.Next(0, _audioList.Count - 1)];
_misty.PlayAudio(randomAudio.Name, 100, null);
await Task.Delay(1000);
_misty.PlayAudio(randomAudio.Name, 100, null);
}
//Re-register events
_misty.RegisterAudioPlayCompleteEvent(AudioPlayCallback, 0, true, null, null);
_misty.RegisterFaceRecognitionEvent(FaceRecCallback, 0, false, null, null, null);
_misty.RegisterCapTouchEvent(CapTouchCallback, 0, true, null, null, null);
_misty.RegisterKeyPhraseRecognizedEvent(KeyPhraseRecognizedCallback, 0, true, null, null);
//You can also register events without callbacks, it requires a user to subscribe to that event as follows...
//Note that this re-registers bump events to play a sound on release, not contact as they were previously handled
_misty.RegisterBumpSensorEvent(0, true, null, null, null);
_misty.BumpSensorEventReceived += ProcessBumpEvent;
//Will continue to process events until timeout of cancel
}
catch (Exception ex)
{
_misty.SkillLogger.Log($"InteractiveMistySkill : OnStart: => Exception", ex);
}
}
private void ProcessQueryResult(object sender, string stringResult)
{
JObject dynamicResponse = JObject.Parse(stringResult);
string color = ((string)dynamicResponse["queryResult"]?["parameters"]?["Color"])?.ToLower();
string position = ((string)dynamicResponse["queryResult"]?["parameters"]?["Direction"])?.ToLower();
string outputAudioString = (string)dynamicResponse["outputAudio"];
byte[] outputAudio = Convert.FromBase64String(outputAudioString);
try
{
JsonConverter[] converters = new JsonConverter[2] {
new ProtoByteStringConverter(), new OutputAudioEncodingConverter()
};
DetectIntentResponse response = JsonConvert.DeserializeObject <DetectIntentResponse>(stringResult, converters);
string intent = response?.QueryResult?.Intent?.DisplayName;
string defaultResponse = response?.QueryResult?.FulfillmentText;
switch (intent)
{
case "ChangeLED":
if (color != null)
{
Color argbColor = Color.FromName(color);
_misty.ChangeLED(argbColor.R, argbColor.G, argbColor.B, null);
}
break;
case "Joke":
_misty.PlayAudio(defaultResponse, 30, null);
break;
case "Move your arms":
if (position == "up")
{
_misty.MoveArms(-90, -90, 50, 50, null, AngularUnit.Degrees, null);
}
if (position == "down")
{
_misty.MoveArms(90, 90, 50, 50, null, AngularUnit.Degrees, null);
}
_misty.Halt(null, null);
break;
case "MoveHeadPosition":
if (position == "up")
{
_misty.MoveHead(-100, 0, 0, 50, AngularUnit.Degrees, null);
}
if (position == "down")
{
_misty.MoveHead(100, 0, 0, 50, AngularUnit.Degrees, null);
}
if (position == "right")
{
_misty.MoveHead(0, 0, -100, 50, AngularUnit.Degrees, null);
}
if (position == "left")
{
_misty.MoveHead(0, 0, 100, 50, AngularUnit.Degrees, null);
}
break;
default:
_misty.SaveAudio("tts.wav", outputAudio, true, true, null);
break;
}
}
catch (Exception ex)
{
}
}
private async Task <bool> ExecuteDockAsync()
{
_charging = false;
// Set head position.
await _skillHelper.MoveHeadAsync(_headPitchOffset, _headRollOffset, _headYawOffset);
if (_abort)
{
return(false);
}
// Find the charger.
if (!await FindChargerAsync())
{
return(false);
}
// Get Misty aligned with charger based upon charger pose X and Euler angle.
int retries = 0;
while (Math.Abs(_chargerPose.X) > ALIGNED_X || Math.Abs(_chargerPose.EulerYaw) > ALIGNED_EULER_YAW)
{
if (retries++ > ALIGN_MAX_RETRIES)
{
_skillHelper.LogMessage("Failed to align with charger.");
return(false);
}
_skillHelper.LogMessage($"Charger position is [{_chargerPose.X:f3}, {_chargerPose.Y:f3}, {_chargerPose.Z:f3}] meters. Euler yaw is {_chargerPose.EulerYaw:f3} degrees.");
await FaceChargerAsync(ALIGNED_X);
if (_abort)
{
return(false);
}
if (Math.Abs(_chargerPose.X) > ALIGNED_X || Math.Abs(_chargerPose.EulerYaw) > ALIGNED_EULER_YAW)
{
await AlignWithChargerAsync();
if (Math.Abs(_chargerPose.Z - IDEAL_ALIGNMENT_DISTANCE) > .1)
{
await _skillHelper.DriveAsync(_chargerPose.Z - IDEAL_ALIGNMENT_DISTANCE);
}
}
}
_skillHelper.LogMessage($"Charger position is [{_chargerPose.X:f3}, {_chargerPose.Y:f3}, {_chargerPose.Z:f3}] meters. Euler yaw is {_chargerPose.EulerYaw:f3} degrees.");
// Backup and drive straight forward to check alignment.
double chargerDistance = _chargerPose.Z;
var offsets = new List <double>();
await _skillHelper.DriveAsync(-1.0, true);
await Task.Delay(1000);
offsets.Add(_chargerPose.X);
for (int i = 0; i < 6; i++)
{
await _skillHelper.DriveAsync(.25, true);
await Task.Delay(1000);
offsets.Add(_chargerPose.X);
}
foreach (var o in offsets)
{
_skillHelper.LogMessage(o.ToString("f3"));
}
double slope = (offsets[0] - offsets.Last()) / 1.5;
double estimateFinalOffset = offsets.Last() - slope * 0.5;
double offsetAngle = -Math.Asin(estimateFinalOffset / 0.4) * 180.0 / Math.PI;
_skillHelper.LogMessage($"Estimate final offset {estimateFinalOffset:f3} meters and {offsetAngle} degrees.");
if (Math.Abs(offsetAngle) > FINAL_OFFSET_ANGLE_MAX)
{
_skillHelper.LogMessage("Offset angle is too large. Backing up and retrying dock process.");
await _skillHelper.DriveAsync(-IDEAL_ALIGNMENT_DISTANCE + 0.25);
return(false);
}
await _skillHelper.TurnAsync(offsetAngle);
// Turn around.
_skillHelper.LogMessage("Turning 180 degrees to face away from charger.");
await _skillHelper.TurnAsync(-180);
if (_abort)
{
return(false);
}
// Back on to charger.
_skillHelper.LogMessage($"Driving {chargerDistance - 0.5 + CHARGER_DOCK_OVERSHOOT:f3} meters to back on to charger.");
await _skillHelper.DriveAsync(-chargerDistance + 0.5 - CHARGER_DOCK_OVERSHOOT, true);
if (_abort)
{
return(false);
}
// Check if we've ended up on top of the wedge.
await Task.Delay(1000);
_skillHelper.LogMessage($"Roll = {_skillHelper.ImuRoll:f3}. Pitch = {_skillHelper.ImuPitch:f3}.");
if (Math.Abs(_skillHelper.ImuRoll) > MISTY_ON_WEDGE_ROLL || Math.Abs(AxisRotation(_initialPitch, _skillHelper.ImuPitch)) > MISTY_ON_WEDGE_PITCH)
{
// We're on the wedge. Drive away from the charger and try again.
_skillHelper.LogMessage($"We appear to have driven on top of the alignment wedge. IMU roll is {_skillHelper.ImuRoll:f3}. IMU pitch is {_skillHelper.ImuPitch:f3}.");
await _skillHelper.DriveAsync(IDEAL_ALIGNMENT_DISTANCE - 0.1);
if (_abort)
{
return(false);
}
await _skillHelper.TurnAsync(180);
_chargerPose = null;
return(false);
}
// Check that we're fully docked: back up a little bit to get more aligned.
_misty.DriveHeading(0, 0.2, 500, true, OnResponse);
// It can take several seconds for the charging indicator to update...
await Task.Delay(7000);
// Check that we're charging.
if (!_charging)
{
_misty.PlayAudio("s_Anger3.wav", 100, OnResponse);
await _skillHelper.DriveAsync(IDEAL_ALIGNMENT_DISTANCE - 0.1);
if (_abort)
{
return(false);
}
await _skillHelper.TurnAsync(180);
_chargerPose = null;
return(false);
}
_misty.PlayAudio("s_Ecstacy.wav", 100, OnResponse);
return(true);
}
/// <summary>
/// Drive straight for the specified distance in meters at a medium speed.
/// Confirm movement with encoder values and retry if needed.
/// If stopped due to a hazard wait a little bit for it to go away and then continue.
/// </summary>
/// <param name="distance"></param>
/// <param name="slow"></param>
public async Task <bool> DriveAsync(double distance, bool slow = false)
{
if (Math.Abs(distance) < 0.003)
{
// Can't drive this short a distance
return(true);
}
if (DateTime.Now.Subtract(LastEncoderMessageReceived).TotalSeconds > 1)
{
LogMessage($"Cannot carry out a drive command because encoder messages are not being received. Last encoder message received at {LastEncoderMessageReceived}.");
MistySpeak("Encoder messages are not being received. Path following aborted.");
return(false);
}
bool success = true;
try
{
// Clear encoder values by sending a drive command with a distance of 0.
int encoderResets = 0;
while (_leftEncoderValue != 0 && encoderResets++ < 10)
{
_misty.DriveHeading(0, 0, 100, false, OnResponse);
await Task.Delay(500);
}
if (_leftEncoderValue != 0)
{
LogMessage($"Failed to reset encoder values. Last encoder value received at {LastEncoderMessageReceived} with a value of {_leftEncoderValue}.");
return(false);
}
_leftEncoderValues = new ConcurrentQueue <double>();
_stopHazardLatching = false;
bool driving = true;
bool sendCommand = true;
int duration = 0;
int retries = 0;
DateTime start = DateTime.Now;
while (driving)
{
if (sendCommand)
{
// Arbitrary medium speed based upon distance.
duration = (int)(500 + Math.Abs(distance) * 3000);
if (slow)
{
duration = 3 * duration;
}
while (!_leftEncoderValues.IsEmpty) // Clearing the encoder queue
{
_leftEncoderValues.TryDequeue(out double r);
}
LogMessage($"Sending drive command with a distance of {distance:f3} meters and a duration of {duration} ms.");
_misty.DriveHeading(0, Math.Abs(distance), duration, distance < 0, OnResponse);
start = DateTime.Now;
sendCommand = false;
await Task.Delay(1000);
}
if (_abort)
{
return(false);
}
await Task.Delay(1500);
// Check that we really moved and if we're done.
// Drive command could have been dropped and/or a hazard could have stopped the robot.
double[] encoderValues = _leftEncoderValues.ToArray();
if (encoderValues.Length > 1) // encoder values should be arriving at 5Hz.
{
double distanceDriven = Math.Abs(encoderValues[encoderValues.Length - 1] / 1000.0);
if (distanceDriven > Math.Abs(0.99 * distance) || Math.Abs(distanceDriven - Math.Abs(distance)) < 0.1)
{
LogMessage($"Completed drive with distance of {_leftEncoderValue / 1000.0:f3} meters.");
driving = false;
}
else
{
// THE FOLLOWING CODE AROUND HAZARDS IS CURRENTLY INACTIVE AS THE HAZARD SYSTEM IS DISABLED BY THE SKILL
// Not there yet. Everything progressing okay?
if (_stopHazardLatching)
{
// We've stopped due to a hazard. Wait a bit for it to go away.
LogMessage("Drive command paused for hazard.");
_misty.PlayAudio("s_Anger.wav", 100, OnResponse);
int maxHazardWait = 0;
while (_stopHazardState && maxHazardWait++ < 30)
{
if (_abort)
{
return(false);
}
await Task.Delay(1000);
}
if (_stopHazardState)
{
// Still in hazard state. Give up.
LogMessage("Giving up on drive command due to persistent hazard condition.");
success = false;
driving = false;
}
else
{
// We're out of hazard state.
LogMessage("Out of hazard state.");
distance -= encoderValues[encoderValues.Length - 1] / 1000.0;
_stopHazardLatching = false;
sendCommand = true;
}
}
if (encoderValues[encoderValues.Length - 1] == 0)
{
// Encoder values are not changing. Try sending drive command again.
if (retries++ > 5)
{
// Don't try forever.
LogMessage("Unable to complete drive command successfully.");
success = false;
driving = false;
}
else
{
sendCommand = true;
}
}
// Don't wait forever.
if (DateTime.Now.Subtract(start).TotalMilliseconds > (5 + 2 * duration))
{
LogMessage($"Time out waiting for completion of drive. Completed distance of {_leftEncoderValue / 1000.0:f3} meters.");
success = false;
driving = false;
}
}
}
else
{
LogMessage($"Not receiving encoder messages. Last encoder value recieved at {_lastEncoderValue}.");
success = false;
}
}
}
catch (Exception ex)
{
LogMessage("Exception occurred within DriveAsync: " + ex.Message);
success = false;
}
finally
{
_leftEncoderValues = null;
}
return(success);
}
/// <summary>
/// This event handler is called when the robot/user sends a start message
/// The parameters can be set in the Skill Runner (or as json) and used in the skill if desired
/// </summary>
/// <param name="parameters"></param>
public async void OnStart(object sender, IDictionary <string, object> parameters)
{
//TODO Put your code here and update the summary above
int task_id = 0;
_timeToTellJokes = true;
try
{
//Get the audio and image lists for use in the skill
_audioList = (await _misty.GetAudioListAsync())?.Data;
_imageList = (await _misty.GetImageListAsync())?.Data;
_misty.Wait(2000);
task_id++;
_misty.PlayAudio("Misty_Hi.wav", 80, null);
_misty.Wait(2000);
_misty.PlayAudio("Misty_I_am_Annie.wav", 80, null);
_misty.Wait(4000);
_misty.ChangeLED(255, 255, 255, null);
_misty.DisplayImage("e_DefaultContent.jpg", 1, null);
_misty.MoveHead(10, 0, 0, 60, AngularUnit.Degrees, null);
task_id++;
_misty.RegisterAudioPlayCompleteEvent(AudioPlayCallback, 0, true, null, null);
// Temporarily disable this voice recognition of the keyphrase wake up words due to SDK software issue.
// It will be used the the fix is done.
// The skill will be initiated by the skill sequencer.
// _misty.StartKeyPhraseRecognition(null);
// _misty.RegisterKeyPhraseRecognizedEvent(10, false, "KeyPhrase", null);
// _misty.KeyPhraseRecognizedEventReceived += ProcessKeyPhraseEvent;
_misty.StartFaceRecognition(null);
RegisterEvents();
task_id++;
_heartbeatTimer = new Timer(HeartbeatCallback, null, 5000, 3000);
_moveHeadTimer = new Timer(MoveHeadCallback, null, 5000, 7000);
_moveArmsTimer = new Timer(MoveArmCallback, null, 5000, 4000);
_ledTimer = new Timer(ChangeLEDCallback, null, 1000, 1000);
}
catch (Exception ex)
{
if (task_id == 0)
{
_misty.SkillLogger.LogVerbose($"TellingJokeSkill : Failed to Load audio and image files");
}
else if (task_id == 1)
{
_misty.SkillLogger.LogVerbose($"TellingJokeSkill : Failed to play audio and display image files");
}
else if (task_id == 2)
{
_misty.SkillLogger.LogVerbose($"TellingJokeSkill : Failed to register events");
}
else
{
_misty.SkillLogger.LogVerbose($"TellingJokeSkill : Failed to setup timers");
}
_misty.SkillLogger.Log($"TellingJokeSkill : OnStart: => Exception", ex);
}
}