/// <summary>
/// Constructor
/// </summary>
/// <param name="connection">The robot connection object</param>
public RobotSynchronization(NaoConnectionHelper connection)
: base(connection)
{
// initialize members
_speechRecognition = new SpeechRecognition(connection.IP, connection.Port);
_speechRecognition.WordRecognized += _speechRecognition_WordRecognized;
}
public FindNaoMarkBackup(int markID, NaoConnectionHelper connection,
float rotationAmount = DEFAULT_ROTATION_AMOUNT,
float maxRotation = DEFAULT_MAX_ROTATION,
float headPitchStepAmount = DEFAULT_HEAD_PITCH_STEP_AMOUNT,
float headYawStepAmount = DEFAULT_HEAD_YAW_STEP_AMOUNT,
float maxHeadYaw = DEFAULT_MAX_HEAD_YAW,
LookDirection startLookDirection = LookDirection.Left)
{
if (!connection.TestConnection(string.Empty))
{
throw new ArgumentException("Could not connect to the robot!");
}
this._connection = connection;
this.RotationAmount = rotationAmount;
this.MaxRotation = maxRotation;
this.HeadPitchStepAmount = headPitchStepAmount;
this.MarkID = markID;
this.HeadYawStepAmount = headYawStepAmount;
this.MaxHeadYaw = maxHeadYaw;
this.StartLookDirection = startLookDirection;
// initialize background worker
_findMarkWorker = new BackgroundWorker();
_findMarkWorker.DoWork += new DoWorkEventHandler(_findMarkWorker_DoWork);
_findMarkWorker.WorkerSupportsCancellation = true;
_findMarkWorker.RunWorkerCompleted += new RunWorkerCompletedEventHandler(_findMarkWorker_RunWorkerCompleted);
}
public NaoCoopRobotBackup(string ip, int port)
{
this._connection = new NaoConnectionHelper(ip, port);
if (this._connection == null || !this._connection.TestConnection())
{
throw new Exception("Could not connect to the Robot.");
}
}
/// <summary>
/// Disposes the current object
/// </summary>
public void Dispose()
{
// dispose the robot
_connection = null;
_commandExecutionEngine.Dispose();
_stateMachine.Stop();
_stateMachine = null;
}
public ExecuterBase(NaoConnectionHelper connection)
{
/*
* if (connection==null || !connection.TestConnection(string.Empty))
* {
* throw new ArgumentException("Could not connect to the robot!");
* }
*/
this._connection = connection;
}
/// <summary>
/// Constructor
/// </summary>
/// <param name="connection">Robot connection</param>
/// <param name="markInfo">Checkpoint mark information</param>
/// <param name="startLookDirection">Start look direction</param>
public WalkToNaoMark(NaoConnectionHelper connection, WalkToLandMarkInfo markInfo,
FindNaoMark.LookDirection startLookDirection = FindNaoMark.LookDirection.Left)
{
this.MarkInfo = markInfo;
this.StartLookDirection = startLookDirection;
this._robotConnectionHelper = connection;
if (!_robotConnectionHelper.TestConnection(string.Empty))
{
throw new ArgumentException("Could not connect to the robot!");
}
_walkWorker.DoWork += new DoWorkEventHandler(_walkWorker_DoWork);
_walkWorker.WorkerSupportsCancellation = true;
_walkWorker.RunWorkerCompleted += new RunWorkerCompletedEventHandler(_walkWorker_RunWorkerCompleted);
}
/// <summary>
/// Disposes the specified command
/// </summary>
public void Dispose()
{
if (_robotSynch != null)
{
_robotSynch.Dispose();
}
_connection = null;
if (_objectHandlingExecuter != null)
{
_objectHandlingExecuter.Dispose();
}
if (_walkToNaoMark != null)
{
_walkToNaoMark.Dispose();
}
}
/// <summary>
/// Default constructor
/// </summary>
/// <param name="ip">The robot ip</param>
/// <param name="port">The robot port</param>
/// <param name="markInfo">The checkpoint's mark information</param>
/// <param name="grabLocation">The grab location information</param>
/// <param name="logger">The logger</param>
public NaoCoopRobot(string ip, int port, WalkToLandMarkInfo markInfo, GrabLocationInfo grabLocation, ILog logger)
{
this._logger = logger;
this._connection = new NaoConnectionHelper(ip, port);
this._markInfo = markInfo;
this._grabLocationInfo = grabLocation;
/*
* if (this._connection == null || !this._connection.TestConnection())
* {
* throw new Exception("Could not connect to the Robot.");
* }
*/
this._objectHandlingExecuter = new ObjectHandlingExecuter(_connection);
this._robotSynch = new RobotSynchronization(_connection);
this.Initialize();
}
/// <summary>
/// Disposes current object
/// </summary>
public void Dispose()
{
if (_worker.IsBusy)
{
_worker.CancelAsync();
}
_worker.Dispose();
try
{
// make sure we unsubribe to speech recognition proxy
using (var speechRecognitionProxy = _connection.GetProxy <SpeechRecognitionProxy>())
{
speechRecognitionProxy.unsubscribe(SUBSCRIBER_NAME);
}
}
catch {}
_connection = null;
}
/// <summary>
/// Constructor
/// </summary>
/// <param name="ip">the ip of the robot</param>
/// <param name="port">the port of the robot</param>
/// <param name="logger">applicatoin logger</param>
/// <param name="id">robot id</param>
public NaoCoopRobot(string ip, int port, ILog logger, Guid?id = null)
{
_logger = logger;
_connection = new NaoConnectionHelper(ip, port);
_commandExecutionEngine = new NaoCoopCommandExecutionEngine(_connection);
/*
* if (this._connection == null || !this._connection.TestConnection())
* {
* throw new Exception("Could not connect to the Robot.");
* }
*/
this.StateCommands = new OrderedDictionary <NaoState, OrderedDictionary <NaoCommand, Dictionary <string, string> > >();
if (id == null)
{
id = Guid.NewGuid();
}
this.ID = id.Value;
this.Status = RobotStatus.Idle;
}
/// <summary>
/// Constructor
/// </summary>
/// <param name="ip">The robot ip</param>
/// <param name="port">The robot port</param>
/// <param name="words">The words to monitor</param>
/// <param name="language">The words language</param>
/// <param name="wordSpotting">Word spotting option (full phrase or individual words)</param>
/// <param name="interval">The interval between two memory reads</param>
/// <param name="precision">Words precision</param>
public SpeechRecognition(string ip, int port, List <string> words = null, string language = DEFAULT_LANGUAGE, bool wordSpotting = DEFAULT_WORD_SPOTTING, int interval = DEFAULT_INTERVAL, float precision = DEFAULT_MIN_PRECISION)
{
this.RecognizedWords = words;
// check connection
this._connection = new NaoConnectionHelper(ip, port);
if (!this._connection.TestConnection())
{
throw new Exception("Could not connect to the Robot!");
}
this.Language = language;
this.Interval = interval;
this.EnableWordSpotting = wordSpotting;
this.Precision = precision;
// initialize worker
_worker = new BackgroundWorker();
_worker.WorkerSupportsCancellation = true;
_worker.DoWork += new DoWorkEventHandler(_worker_DoWork);
}
/// <summary>
/// Constructor
/// </summary>
/// <param name="connection"></param>
public ObjectHandlingExecuter(NaoConnectionHelper connection)
: base(connection)
{
}
/// <summary>
/// Constructor
/// </summary>
/// <param name="connection">Connection object</param>
public NaoCoopCommandExecutionEngine(NaoConnectionHelper connection)
{
this._connection = connection;
this._robotSynch = new RobotSynchronization(connection);
this._objectHandlingExecuter = new ObjectHandlingExecuter(connection);
}