/// <summary>
/// makes Sonar and memory Proxies
/// </summary>
/// <param name="ip"></param>
public Sonar(String ip)
{
sonarProxy = new SonarProxy(ip, 9559);
memoryProxy = new MemoryProxy(ip, 9559);
ActivateSonar();
}
/// <summary>
/// makes Sonar and memory Proxies
/// </summary>
/// <param name="ip"></param>
public Sonar(String ip)
{
sonarProxy = new SonarProxy(ip, 9559);
memoryProxy = new MemoryProxy(ip, 9559);
ActivateSonar();
}
public void initializeProxies()
{
fdp = new FaceDetectionProxy(this.ip, 9559);
fdp.enableTracking(true);
vdp = new VideoDeviceProxy(this.ip, 9559);
mp = new MemoryProxy(this.ip, 9559);
}
public MarkerRecogniser()
{
detector = Proxies.GetProxy<LandMarkDetectionProxy>();
detector.subscribe("MarkerRecogniser", 1000, 0F);
memory = Proxies.GetProxy<MemoryProxy>();
Camera camera = new Camera("MarkerRecogniser");
camera.Subscribe();
camera.CalibrateCamera(3);
camera.Unsubscribe();
}
public MarkerRecogniser()
{
detector = Proxies.GetProxy <LandMarkDetectionProxy>();
detector.subscribe("MarkerRecogniser", 1000, 0F);
memory = Proxies.GetProxy <MemoryProxy>();
Camera camera = new Camera("MarkerRecogniser");
camera.Subscribe();
camera.CalibrateCamera(3);
camera.Unsubscribe();
}
public bool tryConnection()
{
try
{
MemoryProxy mem = new MemoryProxy(this.ip, this.port);
return true;
}
catch (Exception e)
{
Console.Out.WriteLine(e.ToString());
return false;
}
}
public ToNao2(String IP, int port, Kinect kinect, int avg)
{
this.motioProxy = new MotionProxy(IP, port);
this.memProxy = new MemoryProxy(IP, port);
this.postureproxy = new RobotPostureProxy(IP, port);
this.sensor = kinect;
this.jointAngles = new Dictionary <string, float>();
this.avgPoint = new Dictionary <JointType, SkeletonPoint>();
this.avg = avg;
this.iteration = 0;
setUpjointAngleDictionary();
}
public ToNao2(String IP, int port, Kinect kinect, int avg)
{
this.motioProxy = new MotionProxy(IP, port);
this.memProxy = new MemoryProxy(IP, port);
this.postureproxy = new RobotPostureProxy(IP, port);
this.sensor = kinect;
this.jointAngles = new Dictionary<string, float>();
this.avgPoint = new Dictionary<JointType, SkeletonPoint>();
this.avg = avg;
this.iteration = 0;
setUpjointAngleDictionary();
}
/// <summary>
/// Method that reads the LandmarkDetected memory and extracts the landmarks info into a dictionary
/// </summary>
/// <param name="memProxy"></param>
/// <returns></returns>
private Dictionary <int, ArrayList> TryGetLandMark(MemoryProxy memProxy)
{
Dictionary <int, ArrayList> ret = null;
try
{
// get the LandmarkDetected memory
var landMarkMemory = memProxy.getData("LandmarkDetected") as ArrayList;
if (landMarkMemory != null)
{
var landMarks = LandMarkHelper.Instance.GetLandMarksInfo(landMarkMemory) as ArrayList;
if (landMarks != null)
{
ret = new Dictionary <int, ArrayList>();
foreach (var landMark in landMarks)
{
var landMarkArr = landMark as ArrayList;
if (landMarkArr != null)
{
int?markId = LandMarkHelper.Instance.GetMarkID(landMarkArr) as int?;
if (markId.HasValue)
{
ret.Add(markId.Value, landMarkArr);
}
}
}
}
}
}
catch (Exception ex)
{
Debug.WriteLine("Coult get marks. " + ex.ToString());
}
return(ret);
}
/// <summary>
/// Connects to the NAO robot
/// </summary>
/// <param name="ip"> ip address of the robot </param>
public void connect(string ip)
{
// if audio or tts is not null it then was not properly disconnected
if (audio != null || tts != null)
{
Disconnect();
}
// attempt to connect
try
{
ipString = ip;
audio = new AudioDeviceProxy(ip, 9559);
tts = new TextToSpeechProxy(ip, 9559);
mem = new MemoryProxy(ip, 9559);
}
catch (Exception e)
{
// display error message and write exceptions to a file
//MessageBox.Show("Exception occurred, error log in C:\\NAOserver\\exception.txt");
System.IO.File.WriteAllText(@"C:\\NAOserver\\exception.txt",
e.ToString());
}
}
static void Main(string[] args)
{
bool guessed = false;
// used to determine if the user has guessed the right number
int wordAsInt = -1;
// used to translate recongized word in to an integer value
List<string> words = new List<string>();
// create list of words to sent to Nao bot
// Create a connection to the text to speech engine on the Nao bot
TextToSpeechProxy tts = new TextToSpeechProxy("172.28.78.228", 9559);
// Create a connection to the speech recognition on the Nao bot
SpeechRecognitionProxy speechR = new SpeechRecognitionProxy("172.28.78.228",
9559);
// create connection to robot memory
MemoryProxy m = new MemoryProxy("172.28.78.228", 9559);
// random number generator
Random rnd = new Random();
// generates number between 1‐5
int rndNum = rnd.Next(6);
// check for rndNum being 0
if(rndNum == 0)
{
wordAsInt++;
}
// add words we want recognized to word list
words.Add("one");
words.Add("two");
words.Add("three");
words.Add("four");
words.Add("five");
speechR.setVocabulary(words, false); // send the word list to robot
Console.WriteLine("Guessing game running on NAO");
// loop until number is guessed
while (!guessed)
{
// user instructions
tts.say("I have picked a number between one and five, try to guess it");
System.Threading.Thread.Sleep(1500); // wait 1.5 seconds
speechR.subscribe("Main", 50, 50); // Start speech recognition engine
System.Threading.Thread.Sleep(5000); // wait 5 seconds
speechR.unsubscribe("Main"); // stop speech recognition engine
// get lastwordrecognized from memory
object wordObj = m.getData("LastWordRecognized");
string word = (string)((ArrayList)wordObj)[0];
// convert word to a integer
switch (word)
{
case "one":
wordAsInt = 1;
break;
case "two":
wordAsInt = 2;
break;
case "three":
wordAsInt = 3;
break;
case "four":
wordAsInt = 4;
break;
case "five":
wordAsInt = 5;
break;
default:
wordAsInt = -1;
break;
}
// if else block to determine if user guessed too high, too low, or correctly
if (wordAsInt > rndNum)
{
tts.say("You guessed too high");
}
else if (wordAsInt == rndNum)
{
tts.say("You guessed correctly!");
guessed = true;
}
else if (wordAsInt < rndNum)
{
tts.say("You guessed too low");
}
// debug output
Console.WriteLine("/nNumber guessed was ");
Console.Write(word);
Console.WriteLine("/n Actual number is ");
Console.Write(rndNum);
}
}
///<summary>
/// Creates proxes to be used by this class only.
/// </summary>
private void CreateMyProxies()
{
motion = Proxies.GetProxy <MotionProxy>();
battery = Proxies.GetProxy <BatteryProxy>();
memory = Proxies.GetProxy <MemoryProxy>();
}
///<summary>
/// Creates proxes to be used by this class only.
/// </summary>
private void CreateMyProxies()
{
motion = Proxies.GetProxy<MotionProxy>();
battery = Proxies.GetProxy<BatteryProxy>();
memory = Proxies.GetProxy<MemoryProxy>();
}
public static void Init()
{
groupProxy = new GroupProxy();
memoryProxy = new MemoryProxy();
}
