public NavigationController(MainController main, NaoController nao, ObjectLibrary lib)
{
this.stopped = false;
this.nao = nao;
this.lib = lib;
this.main = main;
}
public CommandGrammarBuilder(MainController.State state, ObjectLibrary lib)
{
this.strings = new List<string>();
switch (state)
{
case MainController.State.waiting:
this.grammar = buildWaitingGrammar();
break;
case MainController.State.start:
this.grammar = buildStartGrammar(lib);
break;
case MainController.State.learn:
this.grammar = null;
break;
case MainController.State.find:
this.grammar = buildFindGrammar();
break;
case MainController.State.confirmation:
this.grammar = buildConfGrammar();
break;
case MainController.State.getName:
this.grammar = buildGetNameGrammar();
break;
case MainController.State.getProperties:
this.grammar = buildGetPropertiesGrammar();
break;
}
}
public ObjectLibrary(MainController parent, Rpc.Client client)
{
this.objects = new SerializableDictionary<string, RecogObject>();
this.lookupByProperty = new SerializableDictionary<string, List<RecogObject>>();
this.knownPointClouds = new Dictionary<string, PointCloud>();
this.unknownPointClouds = new Dictionary<string, PointCloud>();
this.client = client;
}
public VoiceRecogition(Controller.MainController.Mapping mapping, MainController controller)
{
this.controller = controller;
this.recogEng = new SpeechRecognitionEngine();
recogEng.SetInputToDefaultAudioDevice();
recogEng.SpeechRecognized += new EventHandler<SpeechRecognizedEventArgs>(speechRecog_success);
recogEng.SpeechRecognitionRejected += new EventHandler<SpeechRecognitionRejectedEventArgs>(
speechRecog_failure);
recogEng.LoadGrammar(CreateSampleGrammar(mapping));
this.start();
}
private void initialize(Grammar grammar, MainController controller, bool start)
{
if (grammar != null)
{
this.controller = controller;
this.recogEng = new SpeechRecognitionEngine();
recogEng.SetInputToDefaultAudioDevice();
recogEng.SpeechRecognized += new EventHandler<SpeechRecognizedEventArgs>(speechRecog_success);
recogEng.SpeechRecognitionRejected += new EventHandler<SpeechRecognitionRejectedEventArgs>(
speechRecog_failure);
recogEng.LoadGrammar(grammar);
if (start)
{
this.start();
}
}
}
public NaoController(string ip, MainController main)
{
try
{
this.main = main;
this.ip = ip;
prevAng = PI;
proxy = new MotionProxy(ip, 9559);
if (this.ip != "127.0.0.1")
{
tts = new TextToSpeechProxy(this.ip, 9559);
}
else
{
tts = null;
}
//this.setStiffness(1.0f);
}
catch (Exception e)
{
Console.Out.WriteLine("Connect exception: " + e);
}
}
public ObjectLibrary(MainController parent, Rpc.Client client, string path)
{
this.objects = new SerializableDictionary<string, RecogObject>();
this.lookupByProperty = new Dictionary<string, List<RecogObject>>();
this.knownPointClouds = new Dictionary<string, PointCloud>();
this.unknownPointClouds = new Dictionary<string, PointCloud>();
this.shut_down = false;
this.block = false;
this.parent = parent;
this.client = client;
if (System.IO.File.Exists(path))
{
string[] lines = System.IO.File.ReadAllLines(path);
foreach (string line in lines)
{
RecogObject obj = RecogObject.fromString(line);
this.addObject(obj);
}
}
}
private void Window_Loaded(object sender, RoutedEventArgs e)
{
controller = new MainController(this);
}
public ForeCastViewModel()
{
_controller = MainController.Instance;
GrowthInPercent = _controller.GetGrowthInPercent();
}
public VoiceRecogition(Grammar grammar, MainController controller)
{
this.initialize(grammar, controller, false);
}
public VoiceRecogition(MainController.State state, MainController controller)
{
this.initialize(new CommandGrammarBuilder(state, controller.getLibrary()).getGrammar(), controller, true);
}