private void Awake()
{
_rigidbody = GetComponent <Rigidbody>();
_stateMachine = new StateMachine();
_controller = new PIDController(_rigidbody);
dock.position = transform.position;
dock.rotation = transform.rotation;
_rlModule = GetComponent <RLModule>();
_meshModel = GetComponentInChildren <MeshRenderer>().transform.parent;
}
static void Main(string[] args)
{
using (var recognizer = new SpeechRecognitionEngine(new System.Globalization.CultureInfo("en-US")))
{
var synthesizer = new SpeechSynthesizer();
var recognizers = new RLModuleCollection();
if (!Directory.Exists(ModulesDir))
{
Directory.CreateDirectory(ModulesDir);
}
string[] modules = Directory.GetDirectories(ModulesDir);
// Add all modules
foreach (var moddir in modules)
{
string jsonfile = $"{ moddir }/module.json";
if (!File.Exists(jsonfile))
{
Console.WriteLine($"Unable to locate 'module.json' file for '{ moddir }' module");
continue;
}
var path = Path.GetFullPath(moddir);
var mod = RLModule.FromFile(jsonfile, path);
var asmpath = Path.Combine(path, mod.AssemblyFile);
var rulepath = Path.Combine(path, mod.RuleFile);
if (!File.Exists(asmpath))
{
Console.WriteLine($"Unable to locate '{ mod.AssemblyFile }' assembly for '{ mod.Name }'");
continue;
}
if (!File.Exists(rulepath))
{
Console.WriteLine($"Unable to locate '{ mod.RuleFile }' rules file for '{ mod.Name }'");
continue;
}
mod.AssemblyFile = asmpath;
mod.RuleFile = rulepath;
if (!mod.LoadAssembly(synthesizer))
{
Console.WriteLine($"Unable to load assembly details for '{ mod.Name }', check '{ mod.AssemblyFile }' file");
continue;
}
mod.LoadGrammar();
recognizers.Add(mod);
Console.WriteLine($"[MOD] Loaded { mod.Name } ({ mod.Assembly.FullName })");
}
/* Compile & Load */
var tmp = Environment.CurrentDirectory;
foreach (var g in recognizers.Collection)
{
Environment.CurrentDirectory = g.ModuleDirectory;
recognizer.LoadGrammar(g.Grammar);
}
Environment.CurrentDirectory = tmp;
recognizer.SpeechRecognized += (s, e) =>
{
var mod = recognizers.Find(e.Result.Grammar);
if (mod == null)
{
Console.WriteLine($"Something is wrong, no module found for grammar '{ e.Result.Grammar.Name }'");
return;
}
mod.RecognizerMethod.Invoke(mod.Instance, new object[] { s, e });
};
if (recognizers.Collection.Count == 0)
{
Console.WriteLine("Aborting application, no grammar loaded.");
return;
}
synthesizer.SetOutputToDefaultAudioDevice();
recognizer.SetInputToDefaultAudioDevice();
recognizer.RecognizeAsync(RecognizeMode.Multiple);
Console.WriteLine("Started");
while (true)
{
Console.ReadKey(true);
}
}
}
