public Gaze(string ip, int port)
: this()
{
this.ip = ip;
this.port = port;
motion = new MotionProxy(ip, port);
bezierMotion = new Bezier(ip, port);
}
/// <summary>
/// Start HeadGaze
/// </summary>
/// <param name="yaw">Angle for yaw</param>
/// <param name="pitch">Angle for pitch</param>
/// <param name="absolute">If the angle is absolute or not</param>
/// <returns></returns>
public List<float> startGaze(float yaw,float pitch,bool absolute=false)
{
//Deactivate FaceTracking
active = false;
//List for final angle
endAngle = new List<float>();
endAngle.Add(yaw);
endAngle.Add(pitch);
//reverse is true, means look at him
if (reverse)
{
endAngle = correctLocation;
absolute = true;
}
//get the current degree, if its in a middle of a gaze
//changue to last position.
if (lastPosition != null)
{
initAngle = lastPosition;
}
else
{
initAngle = motion.getAngles(this.jointList, true);
}
//When it should not move at all... wakakakaka
if (staticmotion)
{
return initAngle;
}
//Change the final angle to be relative to the currentAngle
if (!absolute)
{
endAngle[0] += initAngle[0];
endAngle[1] += initAngle[1];
}
bezierMotion = new Bezier(ip, port);
bezierMotion.beziermove(jointList, 1, initAngle, endAngle);
return initAngle;
}
public void task()
{
this.Background = new SolidColorBrush(Colors.LightBlue);
motion = new MotionProxy(ip, port);
tts = new TextToSpeechProxy(ip, port);
bezierMotion = new Bezier(ip, port);
string filename = "Task1--" + DateTime.Now.ToString("MM-dd-hh-mm") + ".txt";
logfile = new Log(filename, "Task 1 -- Thinking");
logfile.logCondition(condition);
try
{
gazeControl = new GazeControl(ip, port);
//The file should be in the output box
kinect = new KinectAudio("XMLs\\Thinking_Grammar.xml", ip, port);
}
catch (IOException)
{
Console.WriteLine("Kinect Not Connected");
}
taskThread = new Thread(new ThreadStart(startTask));
end = false;
taskThread.Start();
}
/// <summary>
/// Return Gaze
/// </summary>
public void returnGaze()
{
if (staticmotion)
{
return;
}
//Get the current position.
//Reinitialize the motion proxy to prevent SOAP error.
motion = new MotionProxy(ip, port);
List<float> curlist = motion.getAngles(this.jointList, false);
//The final position
var list = new List<float>();
list.Add(initAngle[0]);
list.Add(initAngle[1]);
//Initialize to prevent SOAP error.
bezierMotion = new Bezier(ip, port);
bezierMotion.beziermove(jointList, 1, curlist, list);
//Deactive facetracking for side effect - 08/06/2013
//active = true;
}
protected void beginNode()
{
Random rnd = new Random();
Bezier move = new Bezier(this.ip, this.port);
Console.WriteLine("Start noding");
List<String> jointlist = new List<string>();
jointlist.Add("HeadPitch");
List<float> startlist = new List<float>();
List<float> endlist = new List<float>();
if (type == 3)
{
startlist.Add(0F);
endlist.Add(0.3F);
move.beziermove(jointlist, 0.50F, startlist, endlist);
}
while (!end)
{
if(type == 2)
tracker.startTracker();
endlist.Clear();
startlist.Clear();
double wait = 0;
double pause = intimacyLengthDistribution.Sample();
pause *= 1000;
int pause_int = (int)pause;
if (type == 0)//speaking // 2 is wrong motion.
{
wait = nextIntimacyDistributionSpeaking.Sample();
}
else //listening
{
wait = nextIntimacyDistributionListening.Sample();
}
wait *= 1000;
int wait_int = (int)wait;
System.Threading.Thread.Sleep(wait_int);
if (type == 2)
{
try
{
tracker.stopTracker();
}
catch (Exception)
{
end = true;
}
}
if (type == 3)
{
startlist.Add(0F);
endlist.Add(0F);
move.beziermove(jointlist, 0.50F, startlist, endlist);
endlist.Clear();
endlist.Add(0.3F);
System.Threading.Thread.Sleep(pause_int);
move.beziermove(jointlist, 0.50F, startlist, endlist);
}
else
{
startlist.Add(0F);
endlist.Add((float)0.2);
move.beziermove(jointlist, 0.50F, startlist, endlist);
endlist.Clear();
endlist.Add(0F);
System.Threading.Thread.Sleep(pause_int);
move.beziermove(jointlist, 0.50F, startlist, endlist);
}
}
}
