private void VoiceCommandTrackHumansHandler(SpeechRecognizerDictionaryItem grammarItem, double angle)
{
Talker.Say(10, "Game On!");
robotStrategyTypePrevious = RobotStrategyType.None;
_mapperVicinity.robotState.robotStrategyType = RobotStrategyType.PersonFollowing;
}
private void VoiceCommandBackUpHandler(SpeechRecognizerDictionaryItem grammarItem, double angle)
{
robotStrategyTypePrevious = _mapperVicinity.robotState.robotStrategyType;
_mapperVicinity.robotState.robotStrategyType = RobotStrategyType.InTransition;
SafePosture();
Translate(-300, MaximumBackwardVelocityMmSec, true); // use the shoot-and-forget version.
}
private void VoiceCommandTurnRightHandler(SpeechRecognizerDictionaryItem grammarItem, double angle)
{
robotStrategyTypePrevious = _mapperVicinity.robotState.robotStrategyType;
_mapperVicinity.robotState.robotStrategyType = RobotStrategyType.InTransition;
SafePosture();
int rotateAngle = 30;
TurnByAngle(rotateAngle, ModerateTurnPower, true); // use the shoot-and-forget version.
}
/// <summary>
/// Strategy chooses behavior for the moment and sets its parameters.
/// Strategy would know goal and performance criteria to be able to estimate how far we are from the goal
/// and change behavior if needed.
///
/// Strategy is commanded by Interaction, which sets the objectives and chooses what game (strategy) to play.
/// </summary>
private void Strategy()
{
bool isNewStrategy = _mapperVicinity.robotState.robotStrategyType != strategyPrev;
if (isNewStrategy)
{
strategyPrev = _mapperVicinity.robotState.robotStrategyType;
HeadlightsOff();
lastSafePosture = DateTime.Now;
SafePosture();
Talker.Say(10, "New strategy " + strategyPrev);
}
// as a minimum, a strategy should set a goal and a RobotTacticsType. Then rely on the tactics to avoid obstacles.
// More sophisticated behavior will evaluate obstacles, and offer tactics a number of plans.
switch (_mapperVicinity.robotState.robotStrategyType)
{
case RobotStrategyType.None:
_mapperVicinity.robotState.robotTacticsType = RobotTacticsType.None; // active Stop
if ((DateTime.Now - lastSafePosture).TotalSeconds > 5.0d)
{
lastSafePosture = DateTime.Now;
SafePosture();
}
break;
case RobotStrategyType.InTransition:
_mapperVicinity.robotState.robotTacticsType = RobotTacticsType.InTransition; // do not command the Power Brick; leave it for Strategy.
break;
case RobotStrategyType.LayInWait:
_mapperVicinity.robotState.robotTacticsType = RobotTacticsType.LayInWait;
break;
case RobotStrategyType.GoalAndBack:
// choose robotTacticsType - current tactics:
_mapperVicinity.robotState.robotTacticsType = RobotTacticsType.GoStraightToDirection;
break;
case RobotStrategyType.RouteFollowing:
// follow GPS waypoints ("Mission"):
StrategyRouteFollowing();
break;
case RobotStrategyType.PersonFollowing:
if (isNewStrategy)
{
StrategyPersonFollowingInit();
}
// follow a Kinect skeleton or a red shirt:
StrategyPersonFollowing();
break;
case RobotStrategyType.PersonHunt:
// choose robotTacticsType - current tactics:
_mapperVicinity.robotState.robotTacticsType = RobotTacticsType.None;
break;
case RobotStrategyType.RandomScan:
#if OBSOLETE_PLANANDAVOID_LOGIC
// choose robotTacticsType - current tactics:
_mapperVicinity.robotState.robotTacticsType = RobotTacticsType.PlanAndAvoid;
#else // OBSOLETE_PLANANDAVOID_LOGIC
_mapperVicinity.robotState.robotTacticsType = RobotTacticsType.None; // active Stop
#endif // OBSOLETE_PLANANDAVOID_LOGIC
break;
}
// set parameters so that the tactics can perform:
}
/// <summary>
/// Strategy chooses behavior for the moment and sets its parameters.
/// Strategy would know goal and performance criteria to be able to estimate how far we are from the goal
/// and change behavior if needed.
///
/// Strategy is commanded by Interaction, which sets the objectives and chooses what game (strategy) to play.
/// </summary>
private void Strategy()
{
bool isNewStrategy = _mapperVicinity.robotState.robotStrategyType != strategyPrev;
if (isNewStrategy)
{
strategyPrev = _mapperVicinity.robotState.robotStrategyType;
HeadlightsOff();
lastSafePosture = DateTime.Now;
SafePosture();
Talker.Say(10, "New strategy " + strategyPrev);
}
// as a minimum, a strategy should set a goal and a RobotTacticsType. Then rely on the tactics to avoid obstacles.
// More sophisticated behavior will evaluate obstacles, and offer tactics a number of plans.
switch (_mapperVicinity.robotState.robotStrategyType)
{
case RobotStrategyType.None:
_mapperVicinity.robotState.robotTacticsType = RobotTacticsType.None; // active Stop
if ((DateTime.Now - lastSafePosture).TotalSeconds > 5.0d)
{
lastSafePosture = DateTime.Now;
SafePosture();
}
break;
case RobotStrategyType.InTransition:
_mapperVicinity.robotState.robotTacticsType = RobotTacticsType.InTransition; // do not command the Power Brick; leave it for Strategy.
break;
case RobotStrategyType.LayInWait:
_mapperVicinity.robotState.robotTacticsType = RobotTacticsType.LayInWait;
break;
case RobotStrategyType.GoalAndBack:
// choose robotTacticsType - current tactics:
_mapperVicinity.robotState.robotTacticsType = RobotTacticsType.GoStraightToDirection;
break;
case RobotStrategyType.RouteFollowing:
// follow GPS waypoints ("Mission"):
StrategyRouteFollowing();
break;
case RobotStrategyType.PersonFollowing:
if (isNewStrategy)
{
StrategyPersonFollowingInit();
}
// follow a Kinect skeleton or a red shirt:
StrategyPersonFollowing();
break;
case RobotStrategyType.PersonHunt:
// choose robotTacticsType - current tactics:
_mapperVicinity.robotState.robotTacticsType = RobotTacticsType.None;
break;
case RobotStrategyType.RandomScan:
#if OBSOLETE_PLANANDAVOID_LOGIC
// choose robotTacticsType - current tactics:
_mapperVicinity.robotState.robotTacticsType = RobotTacticsType.PlanAndAvoid;
#else // OBSOLETE_PLANANDAVOID_LOGIC
_mapperVicinity.robotState.robotTacticsType = RobotTacticsType.None; // active Stop
#endif // OBSOLETE_PLANANDAVOID_LOGIC
break;
}
// set parameters so that the tactics can perform:
}
private void VoiceCommandTurnRightHandler(SpeechRecognizerDictionaryItem grammarItem, double angle)
{
robotStrategyTypePrevious = _mapperVicinity.robotState.robotStrategyType;
_mapperVicinity.robotState.robotStrategyType = RobotStrategyType.InTransition;
SafePosture();
int rotateAngle = 30;
TurnByAngle(rotateAngle, ModerateTurnPower, true); // use the shoot-and-forget version.
}
private void VoiceCommandTrackHumansHandler(SpeechRecognizerDictionaryItem grammarItem, double angle)
{
Talker.Say(10, "Game On!");
robotStrategyTypePrevious = RobotStrategyType.None;
_mapperVicinity.robotState.robotStrategyType = RobotStrategyType.PersonFollowing;
}
private void VoiceCommandBackUpHandler(SpeechRecognizerDictionaryItem grammarItem, double angle)
{
robotStrategyTypePrevious = _mapperVicinity.robotState.robotStrategyType;
_mapperVicinity.robotState.robotStrategyType = RobotStrategyType.InTransition;
SafePosture();
Translate(-300, MaximumBackwardVelocityMmSec, true); // use the shoot-and-forget version.
}
