public virtual void Speak(string message, bool async)
{
tts.SayTextRequest streq = new tts.SayTextRequest();
streq.SpeechText = message;
if (async)
{
ttsPort.SayText(streq);
}
else
{
AutoResetEvent aevent = new AutoResetEvent(false);
Arbiter.Activate(DssEnvironment.TaskQueue,
Arbiter.Choice(ttsPort.SayText(streq),
delegate(DefaultUpdateResponseType state)
{
aevent.Set();
},
delegate(Fault f)
{
aevent.Set();
}
));
aevent.WaitOne(1000, false);
}
}
void BumperNotificationHandler(contactsensor.Update updateNotification)
{
contactsensor.ContactSensor s = updateNotification.Body;
if (!s.Pressed)
{
return;
}
if (!string.IsNullOrEmpty(s.Name) && s.Name.ToLowerInvariant().Contains("left"))
{
//say something
speech.SayTextRequest saythis = new speech.SayTextRequest();
saythis.SpeechText = "Turning right";
_speechPort.SayText(saythis);
//update state
_state.CurrentAction = "Turning right";
//move
SpawnIterator <int>(-800, BackUpTurnAndMove);
}
else if (!string.IsNullOrEmpty(s.Name) && s.Name.ToLowerInvariant().Contains("right"))
{
//say something
speech.SayTextRequest saythis = new speech.SayTextRequest();
saythis.SpeechText = "Turning left";
_speechPort.SayText(saythis);
//update state
_state.CurrentAction = "Turning left";
//move
SpawnIterator <int>(800, BackUpTurnAndMove);
}
else if (!string.IsNullOrEmpty(s.Name) && s.Name.ToLowerInvariant().Contains("stall"))
{
//say something
speech.SayTextRequest saythis = new speech.SayTextRequest();
saythis.SpeechText = "Ouch, let go.";
_speechPort.SayText(saythis);
//update state
_state.CurrentAction = "Turning around";
//move
SpawnIterator <int>(800, BackUpTurnAndMove);
}
}
/// <summary>
/// Sends a say text request to the TTS service
/// </summary>
/// <param name="text">text to be spoken</param>
/// <remarks>
/// This method executes in the context of the WPF dispatcher.
/// Any long running computations or blocking calls would make the
/// user interface unresponsive. We simply hand over to DSS/CCR.
/// </remarks>
internal void SayTextFromUi(string text)
{
Activate(
Arbiter.Choice(
_ttsPort.SayText(new texttospeech.SayTextRequest {
SpeechText = text
}),
success =>
{
// nothing to do
},
fault =>
{
// the fault handler is outside the WPF dispatcher
// to perfom any UI related operation we need to go through the WPF adapter
// show an error message
_wpfServicePort.Invoke(() => _userInterface.ShowFault(fault));
}
)
);
}
