public MainWindow()
{
InitializeComponent();
this.TextToSpeechProxy = new TextToSpeechProxy(NAO_IP_ADDRESS, NAO_PORT);
this.BehaviorManagerProxy = new BehaviorManagerProxy(NAO_IP_ADDRESS, NAO_PORT);
this.LedsProxy = new LedsProxy(NAO_IP_ADDRESS, NAO_PORT);
}
public MainWindow()
{
InitializeComponent();
this.TextToSpeechProxy = new TextToSpeechProxy(NAO_IP_ADDRESS, NAO_PORT);
this.BehaviorManagerProxy = new BehaviorManagerProxy(NAO_IP_ADDRESS, NAO_PORT);
this.LedsProxy = new LedsProxy(NAO_IP_ADDRESS, NAO_PORT);
}
public bool connect(string ip, bool onlymotion = false)
{
this.IP = ip;
bool b = false;
try
{
proxyMotion = new MotionProxy(ip, Port);
if (onlymotion == false)
{
bool bc = proxyMotion.setCollisionProtectionEnabled("Arms", false);
if (!bc)
Console.WriteLine("Failed to disable collision protection");
StartMotorMonitor();
proxyBehaviorManager = new BehaviorManagerProxy(ip, Port);
// Turn off the LEDs
proxyLed = new LedsProxy(ip, Port);
List<string> ledgroups = proxyLed.listGroups();
foreach (string ledgroup in ledgroups)
{
proxyLed.off(ledgroup);
}
// Speech
proxyTTS = new TextToSpeechProxy(ip, Port);
if (ip != "127.0.0.1")
{
// Sentinel
proxySentinel = new SentinelProxy(ip, Port);
// Turning off "Motor hot!"
proxySentinel.enableHeatMonitoring(false);
}
// camera
proxyCamera = new VideoDeviceProxy(ip, Port);
// IdleMovement
InitIdleMovement();
}
b = true;
}
catch (Exception e)
{
Console.WriteLine("MotionProxy.Connect Exception: " + e);
b = false;
}
IsConnected = b;
return b;
}
public bool start(string behaviorName)
{
try
{
manager = new BehaviorManagerProxy(ip, port);
manager.runBehavior(behaviorName);
return true;
}
catch(Exception)
{
return false;
}
}
public static void gespeicherteBewegung()
{
try
{
BehaviorManagerProxy beh = new BehaviorManagerProxy(ip, 54010);
beh.preloadBehavior("StandUp"); //Behavior muss vorher in Tool gespeichert werden
beh.runBehavior("StandUp"); //Behavior muss vorher in Tool gespeichert werden
}
catch (Exception e)
{
Console.WriteLine("blabla " + e.Message);
}
}
/// <summary>
/// Connects to the motion system in the NAO robot
/// </summary>
/// <param name="ip"> ip address of the robot </param>
///
public void connect(string ip)
{
try
{
naoMotion = new MotionProxy(ip, 9559);
bmp = new BehaviorManagerProxy(ip, 9559);
// give joints stiffness
naoMotion.stiffnessInterpolation("Head", 1.0f, 1.0f);
naoMotion.stiffnessInterpolation("LArm", 1.0f, 1.0f);
naoMotion.stiffnessInterpolation("RArm", 1.0f, 1.0f);
}
catch (Exception e)
{
//MessageBox.Show("Exception occurred, error log in C:\\NAOcam\\exception.txt");
System.IO.File.WriteAllText(@"C:\\NAOcam\\exception.txt", e.ToString()); // write exepctions to text file
}
}
//connect to the Nao robot
private void ConnectToNao(string nao_ip_address, int nao_port)
{
bool success = true;
try
{
TextToSpeechProxy = new TextToSpeechProxy(nao_ip_address, nao_port);
BehaviorManagerProxy = new BehaviorManagerProxy(nao_ip_address, nao_port);
LedsProxy = new LedsProxy(nao_ip_address, nao_port);
VideoRecorderProxy = new VideoRecorderProxy(nao_ip_address, nao_port);
MotionProxy = new MotionProxy(nao_ip_address, nao_port);
AudioProxy = new AudioDeviceProxy(nao_ip_address, nao_port);
}
catch (Exception)
{
success = false;
}
ConnectButton.Dispatcher.BeginInvoke(DispatcherPriority.Normal,
new UpdateInterfaceAfterConnectDelegate(UpdateUserInterfaceAfterConnect), success);
}
private void ConnectToNao(string nao_ip_address, int nao_port)
{
bool success = true;
try
{
TextToSpeechProxy = new TextToSpeechProxy(nao_ip_address, nao_port);
BehaviorManagerProxy = new BehaviorManagerProxy(nao_ip_address, nao_port);
LedsProxy = new LedsProxy(nao_ip_address, nao_port);
VideoRecorderProxy = new VideoRecorderProxy(nao_ip_address, nao_port);
}
catch (Exception)
{
success = false;
}
ConnectButton.Dispatcher.BeginInvoke(DispatcherPriority.Normal,
new UpdateInterfaceAfterConnectDelegate(UpdateUserInterfaceAfterConnect), success);
}
/// <summary>
/// !!!Tested only with simulator!!!
/// CrgBehaviors are built using TimeLineTemplate with one key pose
///
/// when two proxy instances in two threads operates different joints at the same time,
/// they are executed in the same time.
///
/// when two proxy instances in two threads operates the same joints at the same time,
/// one will override the other; order is not definite!
///
/// SOAP error will occur if the same proxy instance in two threads
/// operates at the same time!
/// </summary>
public void TestBehaviorManagers()
{
BehaviorManagerProxy bmp1 = new BehaviorManagerProxy(this.IP, Port);
BehaviorManagerProxy bmp2 = new BehaviorManagerProxy(this.IP, Port);
BackgroundWorker bgw1 = new BackgroundWorker();
BackgroundWorker bgw2 = new BackgroundWorker();
bgw1.DoWork += delegate
{
bmp1.runBehavior("testarm2");
};
bgw2.DoWork += delegate
{
// One will override the other; order is not definite!
// No problem! I can see the two behaviors running (red square)
// at the same time in Choregraphe->BehaviorManager
//bmp2.runBehavior("testarm1");
// Executed simultaneously
// No problem! I can see the two behaviors running (red square)
// at the same time in Choregraphe->BehaviorManager
bmp2.runBehavior("testhead1");
// SOAP error;
// some times no errors occurred, probably because
// the two threads were not operating at the same time coincidently
//bmp1.runBehavior("testarm1");
// SOAP error;
// some times no errors occurred, probably because
// the two threads were not operating at the same time coincidently
//bmp1.runBehavior("testhead1");
};
bgw1.RunWorkerAsync();
bgw2.RunWorkerAsync();
}
private void Disconnect()
{
shutdown = true;
try
{
audioProxy.Dispose();
}
catch { }
if (status != NaoStatus.Disconnected && status != NaoStatus.Connecting)
{
Console.WriteLine("Stopping idle behavior...");
try
{
if (behaviorProxy == null) behaviorProxy = new BehaviorManagerProxy(ipAddress, 9559);
behaviorProxy.post.stopAllBehaviors();
}
catch { }
Console.WriteLine("Shutting down motors...");
try
{
MotionProxy motionProxy = new MotionProxy(ipAddress, 9559);
motionProxy.post.setStiffnesses("Body", 0);
}
catch { }
}
Console.WriteLine("Waiting for threads to finish...");
lstCategories.Items.Clear();
lstFiles.Items.Clear();
if (tConnect != null) tConnect.Abort();
Status = NaoStatus.Disconnected;
Console.WriteLine("Done. Exiting.");
}
private void Connect() {
Console.WriteLine("Looking for NAO's host '" + robotAddress + "'...");
IPAddress[] ip = Dns.GetHostAddresses(robotAddress);
if (ip.Length == 0)
{
Console.WriteLine("Unable to find host '" + robotAddress + "'");
Thread.Sleep(2000);
}
else
{
foreach (IPAddress i in ip)
{
if (i.AddressFamily == System.Net.Sockets.AddressFamily.InterNetwork)
{
ipAddress = i.ToString();
break;
}
}
Console.WriteLine("Resolved '" + robotAddress + "' as " + ipAddress + "!");
audioProxy = new AudioPlayerProxy(ipAddress, 9559);
Console.WriteLine("Created AudioPlayer proxy.");
var files = Directory.EnumerateFiles(@"wav", "*.mp3", SearchOption.AllDirectories);
sounds.Clear();
lstCategories.Invoke((MethodInvoker)(() =>
{
lstCategories.Items.Clear();
lstFiles.Items.Clear();
lstCategories.SelectedItem = null;
lstFiles.Enabled = false;
btnPlayRandom.Enabled = false;
}));
foreach (string file in files)
{
string category = Path.GetDirectoryName(file).Substring(Path.GetDirectoryName(file).LastIndexOf(Path.DirectorySeparatorChar)+1);
string sound = Path.GetFileNameWithoutExtension(file);
if (!sounds.ContainsKey(category))
{
sounds[category] = new Dictionary<string, int>();
lstCategories.Invoke((MethodInvoker)(() =>
{
lstCategories.Items.Add(String.Format("[Shift+{0}]:{1}", (char) keyIndexes[lstCategories.Items.Count], category));
}));
}
int soundId = -1;
try {
soundId = audioProxy.loadFile("/var/persistent/home/nao/wav/" + category + "/" + sound + ".mp3");
Console.WriteLine("Loaded file '" + category + "/" + sound + ".mp3'");
}catch (Exception e) {
Console.WriteLine("Unable to load file '" + category + "/" + sound + ".mp3': " + e.Message + (e.InnerException!=null?": " + e.InnerException.Message:""));
}
if (soundId != -1)
{
sounds[category][sound] = soundId;
}
else if (sounds[category].ContainsKey(sound))
{
sounds[category].Remove(sound);
}
}
behaviorProxy = new BehaviorManagerProxy(ipAddress, 9559);
Console.WriteLine("Created BehaviorManager proxy.");
if (behaviorProxy.isBehaviorPresent(idleBehavior))
{
if (!behaviorProxy.isBehaviorRunning(idleBehavior))
{
behaviorProxy.post.runBehavior(idleBehavior);
}
}
Status = NaoStatus.Standby;
}
}
