private int SATO_Failed(int currentState, object o)
{
TextBoxStreamWriter.DefaultLog.WriteLine("HAL9000.-> SATO_Failed state reached.");
cmdMan.SPG_GEN_say(SATO_failed, 3000);
finalStatus = Status.Failed;
// TODO: Change the next status
return((int)States.FinalState);
}
private int Navigate_Succeeded(int currentState, object o)
{
TextBoxStreamWriter.DefaultLog.WriteLine("HAL9000.-> Navigate_Succeeded state reached.");
//return the arms to home position
if (!(SMConfiguration.ARMS_usedArm == ""))
{
cmdMan.ARMS_goto(SMConfiguration.ARMS_home, 10000);
}
cmdMan.SPG_GEN_say(navigSucceded, 3000);
finalStatus = Status.OK;
// TODO: Change the next status
return((int)States.FinalState);
}
private int StateTellPhrase(int currentState, object o)
{
TextBoxStreamWriter.DefaultLog.WriteLine("HAL9000.-> StateTellPhrase state reached.");
switch (phraseToTell)
{
case "time":
cmdMan.SPG_GEN_say(System.DateTime.Now.ToString(), 5000);
break;
case "your_name":
cmdMan.SPG_GEN_say("Hello I'm the robot Justina", 5000);
break;
default:
break;
}
return((int)States.FinalState);
}
/// <summary>
/// the robot navigate to the operator location
/// </summary>
/// <returns>WaitForCommand state if the navigation primiive was executed succesfully. NavigateToOperator otherwise.</returns>
private int NavigateToOperator(int currentState, object o)
{
TextBoxStreamWriter.DefaultLog.WriteLine("HAL9000.-> NavigateToOperator state reached.");
NavigateTo sm_navigation = new NavigateTo(this.brain, this.cmdMan, SMConfiguration, SMConfiguration.MVNPLN_operatorLocation);
NavigateTo.Status navig_status = sm_navigation.Execute();
if (navig_status == NavigateTo.Status.OK)
{
//if the robot reach the location then ask for a command
cmdMan.SPG_GEN_say(SMConfiguration.SPGEN_waitforcomman, 5000);
Thread.Sleep(1000);
brain.recognizedSentences.Clear();
attemptCounter = 0;
return((int)States.WaitForCommand);
}
else
{
attemptCounter++;
//the robot cannot navigate to
if (attemptCounter < attemptLimit)
{
TextBoxStreamWriter.DefaultLog.WriteLine("HAL9000.-> connot navigate to te aperator at attempt: " + attemptCounter + ". Trying again.");
return((int)States.NavigateToOperator);
}
else
{
//reset the attempt counter
TextBoxStreamWriter.DefaultLog.WriteLine("HAL9000.-> Cannot navigate to the operator. Try to continue with the test.");
attemptCounter = 0;
return((int)States.WaitForCommand);
}
}
}
private int MarkerFound(int currentState, object o)
{
TextBoxStreamWriter.DefaultLog.WriteLine("HAL9000.-> MarkerFound state reached.");
//jump to the perform state of the detected command
int nextState;
switch (SMConfiguration.generateIntegerCommand(SMConfiguration.markerCommand))
{
case (int)RoboZoo_WORLD.Commands.Dance:
TextBoxStreamWriter.DefaultLog.WriteLine("HAL9000.-> Dance command detected.");
SMConfiguration.commandDetected = true;
nextState = (int)States.PerformDance;
break;
case (int)RoboZoo_WORLD.Commands.Presentation:
TextBoxStreamWriter.DefaultLog.WriteLine("HAL9000.-> Presentation command detected.");
SMConfiguration.commandDetected = true;
nextState = (int)States.PerformPresentation;
break;
case (int)RoboZoo_WORLD.Commands.Hypnotize:
TextBoxStreamWriter.DefaultLog.WriteLine("HAL9000.-> Hypnotize command detected.");
SMConfiguration.commandDetected = true;
nextState = (int)States.PerformHipnotize;
break;
case -1:
TextBoxStreamWriter.DefaultLog.WriteLine("HAL9000.-> The string command " + SMConfiguration.markerCommand + " does not have a integer representation.");
nextState = (int)States.SearchMarker;
break;
default:
TextBoxStreamWriter.DefaultLog.WriteLine("HAL9000.-> Integer representation for " + SMConfiguration.markerCommand + " not parsed (verify your code).");
nextState = (int)States.SearchMarker;
break;
}
if (SMConfiguration.commandDetected)
{
TextBoxStreamWriter.DefaultLog.WriteLine("HAL9000.-> Stoping threads.");
//Stop the head search movement
if (t_HEADSearchMovements.IsAlive)
{
t_HEADSearchMovements.Join();
}
//Stop the arms search movement
if (t_ARMSSearchMovements.IsAlive)
{
t_ARMSSearchMovements.Join();
}
//Stop the spgen search movement
if (t_SPGENSearchPhrases.IsAlive)
{
t_SPGENSearchPhrases.Join();
}
cmdMan.SPG_GEN_say(SMConfiguration.getDetectedCommandPhrase(), 3000);
}
TextBoxStreamWriter.DefaultLog.WriteLine("HAL9000.-> Jump to the next state.");
return(nextState);
}
