private int PerformHipnotize(int currentState, object o)
{
TextBoxStreamWriter.DefaultLog.WriteLine("HAL9000-> PerformHypnotize state reached.");
t_SPGENHypnoSpeech = new Thread(new ThreadStart(SPGENHypnoSpeech));
t_ARMSHypnoMovements = new Thread(new ThreadStart(ARMSHypnoMovements));
t_HEADHypnoMovements = new Thread(new ThreadStart(HEADHypnoMovements));
//to allow threads execution
hypnoSpeechFinished = false;
//introduction to hypno show
cmdMan.SPG_GEN_shutup(1000);
this.brain.SayAsync("I will try to hipnotize you.");
Thread.Sleep(1000);
this.brain.SayAsync("Look straight to my pendulum.");
Thread.Sleep(1000);
//move both arms to navigation
moveActiveArms(SMConfiguration.ARMS_navigation, 10000);
//move left arm to hypno
moveOneArm(SMConfiguration.ARMS_hypnoc, 1, 10000);
//Launch the thread to move asynchronous the robot's arms (hypno left and right)
t_ARMSHypnoMovements.Start();
while (!t_ARMSHypnoMovements.IsAlive)
{
;
}
//Launch the threads to move asynchronous the robot's head ("circular" movement)
t_HEADHypnoMovements.Start();
while (!t_HEADHypnoMovements.IsAlive)
{
;
}
//Launch the thread to asynchronously play the speech
t_SPGENHypnoSpeech.Start();
while (!t_SPGENHypnoSpeech.IsAlive)
{
;
}
if (t_SPGENHypnoSpeech.IsAlive)
{
t_SPGENHypnoSpeech.Join();
}
if (t_HEADHypnoMovements.IsAlive)
{
t_HEADHypnoMovements.Join();
}
if (t_ARMSHypnoMovements.IsAlive)
{
t_ARMSHypnoMovements.Join();
}
//send the arms back to navigation and home
moveActiveArms(SMConfiguration.ARMS_navigation, 10000);
moveActiveArms(SMConfiguration.ARMS_home, 10000);
//look at the human face
cmdMan.HEAD_lookat(SMConfiguration.HEAD_lookToFace.pan, SMConfiguration.HEAD_lookToFace.tilt, 2000);
this.brain.SayAsync("now you are under my control!!!");
Thread.Sleep(1000);
this.brain.SayAsync("I command you to give me a token!");
Thread.Sleep(2000);
return((int)States.InitialState);
}
