private int SearchFall(int currentState, object o)
{
TextBoxStreamWriter.DefaultLog.WriteLine("HAL9000.-> SearchFall state of SM_DetectPersonFall reached.");
//double headAngle=-Math.PI/6;
double headAngle = (-0.5 * 3.1416) / 180;
cmdMan.HEAD_lookat(0.0, headAngle, 5000);
//headAngle = (headAngle * 180) / Math.PI;
headAngle = -0.5;
brain.lastPersonFallDetected.Clear();
Thread.Sleep(5000);
//enviar comando para que comienze a detectar caidas
cmdMan.VISION_findfall(true, headAngle);
timer.Start();
while (timer.Elapsed.Seconds < 25 && brain.lastPersonFallDetected.Count == 0)
{
;
}
timer.Stop();
//enviar comando para que deje de detectar caidas
cmdMan.VISION_findfall(false, 0);
if (brain.lastPersonFallDetected.Count > 0)
{
fallDetected = true;
}
else
{
fallDetected = false;
}
if (!fallDetected)
{
finalState = FinalStates.FallNotDetected;
return((int)States.FinalState);
}
return((int)States.GoToFall);
}
