// Performs the sequence by stepping through each frame and executing the required
// voice synthesizer, delay, and motion actions.
private void RunSequenceThread()
{
if (!servoManager.IsConnected())
{
ErrorLogging.AddMessage(ErrorLogging.LoggingLevel.Warning, "Servo hardware is disconnected, running sequence '" + runningSequence.name + "' in simulation mode.");
}
// Disable the person tracking feature while a sequence is executing.
servoManager.PersonTrackingEnable(false);
ErrorLogging.AddMessage(ErrorLogging.LoggingLevel.Info, "RunSequence(): sequence '" + runningSequence.name + "' started.");
foreach (Frame frame in runningSequence.GetFrames())
{
// Run the speech synthesizer asynchronously. Speaks while continuing to
// perform moves in this and subsequent frames.
if (frame.speechString != null)
{
speechSynthesizer.SpeakAsync(frame.speechString);
}
// Go to the relevant PPT Slide
// perform moves in this and subsequent frames.
if (frame.pptIndex != null)
{
if (pptController.IsPptActive())
{
pptController.GoToSlide(frame.pptIndex);
}
}
// Wait for the specified amount of time.
if (frame.delay > 0)
{
Thread.Sleep((int)(frame.delay * 1000));
}
// Move all servos in the frame list.
if (frame.GetServoPositions().Count > 0)
{
servoManager.MoveServos(frame.GetServoPositions(), frame.timeToDestination);
}
}
ErrorLogging.AddMessage(ErrorLogging.LoggingLevel.Info, "RunSequence(): sequence '" + runningSequence.name + "' completed.");
// Re-enable the person tracking feature.
servoManager.PersonTrackingEnable(true);
lock (sequenceLock)
{
sequenceIsRunning = false;
}
}
// Performs the sequence by stepping through each frame and executing the required
// voice synthesizer, delay, and motion actions.
private void RunSequenceThread()
{
if (!servoManager.IsConnected())
{
ErrorLogging.AddMessage(ErrorLogging.LoggingLevel.Warning, "Servo hardware is disconnected, running servos in simulation mode for sequence '" + runningSequence.name + "'.");
}
if (!ariaManager.IsConnected())
{
ErrorLogging.AddMessage(ErrorLogging.LoggingLevel.Warning, "Robot base hardware is disconnected, running robot base in simulation mode for sequence '" + runningSequence.name + "'.");
}
ErrorLogging.AddMessage(ErrorLogging.LoggingLevel.Info, "RunSequenceThread(): sequence '" + runningSequence.name + "' started.");
foreach (Frame frame in runningSequence.GetFrames())
{
// Run the speech synthesizer asynchronously. Speaks while continuing to
// perform moves in this and subsequent frames.
if (frame.speechString != null)
{
robotSpeech.Speak(frame.speechString);
}
// Set the state of the LED eyes.
if (frame.eyeState != null)
{
switch (frame.eyeState)
{
case "Open":
robotEyes.SetEyeState(true, true);
break;
case "Closed":
robotEyes.SetEyeState(false, false);
break;
case "LeftClosed":
robotEyes.SetEyeState(false, true);
break;
case "RightClosed":
robotEyes.SetEyeState(true, false);
break;
}
}
// Wait for the specified amount of time.
if (frame.delay > 0)
{
Thread.Sleep((int)(frame.delay * 1000));
}
// Servo motion and wheel motion are performed simultaneously by creating two separate threads and
// waiting until both threads have completed their motion.
ManualResetEvent[] manualEvents = new ManualResetEvent[]
{
new ManualResetEvent(false),
new ManualResetEvent(false)
};
// Start servo motion thread.
Thread servoThread = new Thread(new ParameterizedThreadStart(MoveServos));
servoThread.Start(new SequenceThreadData(frame, manualEvents[0]));
// Start wheel motion thread.
Thread wheelsThread = new Thread(new ParameterizedThreadStart(MoveWheels));
wheelsThread.Start(new SequenceThreadData(frame, manualEvents[1]));
// Wait until both servo motion and wheel motion has completed.
WaitHandle.WaitAll(manualEvents);
}
ErrorLogging.AddMessage(ErrorLogging.LoggingLevel.Info, "RunSequenceThread(): sequence '" + runningSequence.name + "' completed.");
lock (sequenceLock)
{
sequenceIsRunning = false;
}
}