// see http://code.jonwagner.com/2012/09/06/best-practices-for-c-asyncawait/
// http://www.c-sharpcorner.com/UploadFile/pranayamr/difference-between-await-and-continuewith-keyword-in-C-Sharp/
// http://code.jonwagner.com/2012/09/04/deadlock-asyncawait-is-not-task-wait/
// https://msdn.microsoft.com/en-us/library/ff963550.aspx - Parallel Programming book
public override async Task Init(CancellationTokenSource cts, string[] args)
{
await base.Init(cts, args); // produces hardwareBrick and sets it for communication
joystick.joystickEvent += Joystick_joystickEvent;
sensorsController = new SensorsControllerShorty(hardwareBrick, loopTimeMs, PIXY_COM_PORT, speaker);
await sensorsController.InitSensors(cts);
InitDrive();
behaviorFactory = new BehaviorFactory(subsumptionTaskDispatcher, driveGeometry, speaker);
// we can set behavior combo now, or allow ControlDeviceCommand to set it later.
//behaviorFactory.produce(BehaviorCompositionType.JoystickAndStop);
robotState = new RobotState();
robotPose = new RobotPose();
robotState.powerLevelPercent = 100; // can be changed any time. Used by behaviors.
robotPose.geoPosition.moveTo(lng, lat, elev); // will be set to GPS coordinates, if available
robotPose.direction.heading = headingDegrees; // will be set to Compass Heading, if available
robotPose.reset();
robotSlam = new RobotSLAM()
{
useOdometryHeading = true
};
await InitComm(cts); // may throw exceptions
// see what kind of timer we have to measure durations:
if (Stopwatch.IsHighResolution)
{
Debug.WriteLine("OK: operations are timed using the system's high-resolution performance counter.");
}
else
{
Debug.WriteLine("Warning: operations are timed using the DateTime class.");
}
stopWatch.Start();
if (isCommError)
{
speaker.Speak("Shorty cannot see his brick");
}
else
{
speaker.Speak("I am Shorty");
}
}
public bool PlayOnePair(WordsPair pair, ICheckIsExit checkIsExit, out bool isExit)
{
isExit = false;
_speaker.Speak($"{pair.First} = {pair.Second}");
_speaker.Speak($"{pair.Second} = {pair.First}");
var input = _listener.Input();
if (checkIsExit.IsExit(input))
{
isExit = true;
return(true);
}
return(true);
}
public OffendedViewModel(ISpeaker speaker, IShrink shrink)
{
_speaker = speaker;
_shrink = shrink;
CheckIfImOffended = new MvxCommand(() =>
{
OffendedState myState = _shrink.AmIOffended();
switch (myState)
{
case OffendedState.NotOffended:
OffendedResultText = "You have absolutely no reason to be offended";
break;
case OffendedState.Offended:
OffendedResultText = "You should be offended!";
break;
case OffendedState.VeryOffended:
OffendedResultText = "The level of offended you should be has reached epic!";
break;
default:
throw new ArgumentOutOfRangeException();
}
_speaker.Speak(OffendedResultText);
});
}
/// <summary>
/// Called when a <see cref="T:System.Windows.Controls.Button"/> is clicked.
/// </summary>
protected override void OnClick()
{
base.OnClick();
if (_speech == null)
{
_speech = ReadingContext.Current.Speaker;
}
_speech.Speak(Content.ToString());
}
private void lvAnimals_MouseDoubleClick(object sender, MouseButtonEventArgs e)
{
ISpeaker selectedSpeaker = lvAnimals.SelectedItem as ISpeaker;
if (selectedSpeaker != null)
{
selectedSpeaker.Speak();
}
}
public bool PlayOnePair(WordsPair pair, ICheckIsExit checkIsExit, out bool isExit)
{
var result = true;
isExit = false;
_speaker.Speak($"{pair.Second} = {pair.First}");
_speaker.Speak("Введите слово:");
var first = _listener.Input();
if (checkIsExit.IsExit(first))
{
isExit = true;
return(result);
}
if (first == pair.First.Caption)
{
_speaker.Speak("Ok!");
result = true;
}
else
{
_speaker.Speak($"No. Правильно будет \"{pair.First}\"");
result = false;
}
_speaker.Speak("");
return(result);
//_speaker.Speak("Введите второе слово:");
//var second = _listener.Input();
//if (checkIsExit.IsExit(second))
//{
// isExit = true;
// return;
//}
//if (second == pair.Second.Caption)
// _speaker.Speak("Ok!");
//else
// _speaker.Speak($"No. Правильно {pair.Second}");
}
private void FormInterpretationAlgorithm(Form form)
{
_currentForm = form;
if (form.Field != null)
{
_speaker.SpeakAsync(form.Field.Prompt.Message);
}
else
{
if (form.Id.Equals("GoodEnd"))
{
CalculateThePrice();
_mainWindow.SetLabels(_order);
DatabaseRepository.AddOrder(_order);
_speaker.Speak(form.Block.Prompt.Message);
Environment.Exit(0);
}
if (form.Id.Equals("Reset"))
{
ResetOrder();
}
}
}
public void BeginTraining()
{
_speaker.Speak("Time to sweat");
}
public static void DecodeData(IEnumerable <string> fileSystemEntities, IWriter writer = null, ISpeaker speaker = null)
{
var files = fileSystemEntities
.Where(fileSystemEntity => fileSystemEntity.FileOrDirectoryExists() ? File.GetAttributes(fileSystemEntity).HasFlag(FileAttributes.Directory) : false)
.Select(folder => Directory.GetFiles(folder))
.SelectMany(file => file)
.Union(fileSystemEntities
.Where(fileSystemEntity => fileSystemEntity.FileOrDirectoryExists() ? !File.GetAttributes(fileSystemEntity).HasFlag(FileAttributes.Directory) : false));
if (writer == null)
{
writer = new ConsoleWriter();
}
// Can be moved to class - Configurator or so,
// but it can be used there, because this configuration was made only for this method.
var section = (FormatSection)ConfigurationManager.GetSection("FormatSection");
foreach (var file in files)
{
var fileInfo = new FileInfo(file);
if (!Extensions.Contains(fileInfo.Extension))
{
continue;
}
writer.Write(string.Format(section.File.Format, fileInfo.Name, fileInfo.Extension, fileInfo.Length));
Directory.CreateDirectory($"{fileInfo.DirectoryName}//{Backup}");
try
{
fileInfo.MoveTo($"{fileInfo.DirectoryName}//{Backup}//{fileInfo.Name}");
}
catch (Exception ex)
{
writer.Write($"File can't be used. Exception: {ex.Message}");
continue;
}
using (var streamReader = new StreamReader($"{fileInfo.DirectoryName}//{fileInfo.Name}"))
{
using (var streamWriter = new StreamWriter(file))
{
var lineCount = 0;
var fileMathchesCount = 0;
string line;
while ((line = streamReader.ReadLine()) != null)
{
Regex.Matches(line, RussianLettersPattern).Cast <Match>()
.ToList().ForEach(match =>
{
writer.Write(string.Format(section.Substring.Format, lineCount + 1, match.Index, match.Value));
fileMathchesCount++;
});
lineCount++;
streamWriter.WriteLine(line.Unidecode());
}
writer.Write(string.Format(section.Result.Format, fileMathchesCount));
}
}
if (speaker != null)
{
speaker.Speak(file);
}
}
}
public void Speak(string text)
{
speakerEngine.Speak(text);
}
/// <summary>
///
/// </summary>
/// <param name="ddg"></param>
/// <param name="speaker"></param>
/// <param name="trackFileName">can be null, for a saved track</param>
public BehaviorRouteFollowing(IDriveGeometry ddg, ISpeaker speaker, string trackFileName, double powerFactor = 1.0d)
: base(ddg)
{
this.speaker = speaker;
this.powerFactor = powerFactor;
BehaviorActivateCondition = bd =>
{
return(nextWp != null);
};
BehaviorDeactivateCondition = bd =>
{
return(nextWp == null);
};
if (String.IsNullOrWhiteSpace(trackFileName))
{
//speaker.Speak("Loading saved track");
try
{
missionTrack = null;
// Load stored waypoints:
// on the PC, from C:\Users\sergei\AppData\Local\Packages\RobotPluckyPackage_sjh4qacv6p1wm\LocalState\MyTrack.xml
// RPi: \\172.16.1.175\c$\Data\Users\DefaultAccount\AppData\Local\Packages\RobotPluckyPackage_sjh4qacv6p1wm\LocalState
Track track = SerializableStorage <Track> .Load(savedTrackFileName).Result;
if (track != null)
{
missionTrack = track;
//speaker.Speak("Loaded file " + missionTrack.Count + " trackpoints");
}
}
catch (Exception ex)
{
speaker.Speak("could not load saved track file");
}
if (missionTrack == null)
{
speaker.Speak("failed to load saved track file");
missionTrack = new Track();
}
nextWp = missionTrack.nextTargetWp;
stopStartedTime = null;
}
else
{
speaker.Speak("Loading file " + trackFileName);
missionTrack = new Track();
try
{
missionTrack.Init(trackFileName);
speaker.Speak("Loaded file " + missionTrack.Count + " trackpoints");
nextWp = missionTrack.nextTargetWp;
}
catch (Exception ex)
{
speaker.Speak("could not load planned track file");
}
}
}
// ISpeaker implementation
public async void Speak(string whatToSay, int voice = 0)
{
await Dispatcher.RunAsync(CoreDispatcherPriority.Normal, () => speakerImpl.Speak(whatToSay, voice));
}
static void Sample(ISpeaker input)
{
ISpeaker.Speak(); // this call acts like a control structure
}
/// <summary>
/// we can create sensors here, but cannot send commands before bridge_CommunicationStarted is called in PluckyTheRobot
/// for example, encoder.Clear() will hang.
/// </summary>
public async Task InitSensors(CancellationTokenSource cts)
{
// see C:\Projects\Serializer_3_0\ExampleApps\AnalogSensorExample\AnalogSensorExample\Form1.cs
// Note: the Element board communicates at 19200 Baud, which is roughly 1.5 kbytes/sec
// Comm link is busy with motor commands and has to be responsive to encoders, for odometry to work.
// Sensors must carefully adjust their demands by setting UpdateFrequency and Enabled properties.
// *********************** infrared rangers:
SensorPose spIrLeft = new SensorPose()
{
XMeters = 0.0d, YMeters = 0.1d, ThetaRadians = Math.PI / 2.0d
};
RangerIrLeft = RangerSensorFactory.produceRangerSensor(RangerSensorFactoryProducts.RangerSensorIR10_80, "IrLeft", spIrLeft,
hardwareBrick, AnalogPinId.A1, rangersSamplingIntervalMs, rangersSensitivityThresholdCm);
RangerIrLeft.distanceChangedEvent += new EventHandler <RangerSensorEventArgs>(RangerDistanceChangedEvent);
RangerSensors.Add(RangerIrLeft.Name, RangerIrLeft);
SensorPose spIrRight = new SensorPose()
{
XMeters = 0.0d, YMeters = -0.1d, ThetaRadians = -Math.PI / 2.0d
};
RangerIrRight = RangerSensorFactory.produceRangerSensor(RangerSensorFactoryProducts.RangerSensorIR10_80, "IrRight", spIrRight,
hardwareBrick, AnalogPinId.A0, rangersSamplingIntervalMs, rangersSensitivityThresholdCm);
RangerIrRight.distanceChangedEvent += new EventHandler <RangerSensorEventArgs>(RangerDistanceChangedEvent);
RangerSensors.Add(RangerIrRight.Name, RangerIrRight);
SensorPose spIrFront = new SensorPose()
{
XMeters = 0.1d, YMeters = 0.0d, ThetaRadians = 0.0d
};
RangerIrFront = RangerSensorFactory.produceRangerSensor(RangerSensorFactoryProducts.RangerSensorIR10_80, "IrFront", spIrFront,
hardwareBrick, AnalogPinId.A3, rangersSamplingIntervalMs, rangersSensitivityThresholdCm);
RangerIrFront.distanceChangedEvent += new EventHandler <RangerSensorEventArgs>(RangerDistanceChangedEvent);
RangerSensors.Add(RangerIrFront.Name, RangerIrFront);
SensorPose spIrRear = new SensorPose()
{
XMeters = -0.1d, YMeters = 0.0d, ThetaRadians = Math.PI
};
RangerIrRear = RangerSensorFactory.produceRangerSensor(RangerSensorFactoryProducts.RangerSensorIR10_80, "IrRear", spIrRear,
hardwareBrick, AnalogPinId.A2, rangersSamplingIntervalMs, rangersSensitivityThresholdCm);
RangerIrRear.distanceChangedEvent += new EventHandler <RangerSensorEventArgs>(RangerDistanceChangedEvent);
RangerSensors.Add(RangerIrRear.Name, RangerIrRear);
// *********************** ultrasonic rangers:
SensorPose spSonarLeft = new SensorPose()
{
XMeters = 0.1d, YMeters = 0.05d, ThetaRadians = Math.PI / 6.0d
};
RangerSonarLeft = RangerSensorFactory.produceRangerSensor(RangerSensorFactoryProducts.RangerSensorSonar, "SonarLeft", spSonarLeft,
hardwareBrick, GpioPinId.Pin4, GpioPinId.Pin5, rangersSamplingIntervalMs, rangersSensitivityThresholdCm);
RangerSonarLeft.distanceChangedEvent += new EventHandler <RangerSensorEventArgs>(RangerDistanceChangedEvent);
RangerSensors.Add(RangerSonarLeft.Name, RangerSonarLeft);
SensorPose spSonarRight = new SensorPose()
{
XMeters = 0.1d, YMeters = -0.05d, ThetaRadians = -Math.PI / 6.0d
};
RangerSonarRight = RangerSensorFactory.produceRangerSensor(RangerSensorFactoryProducts.RangerSensorSonar, "SonarRight", spSonarRight,
hardwareBrick, GpioPinId.Pin2, GpioPinId.Pin3, rangersSamplingIntervalMs, rangersSensitivityThresholdCm);
RangerSonarRight.distanceChangedEvent += new EventHandler <RangerSensorEventArgs>(RangerDistanceChangedEvent);
RangerSensors.Add(RangerSonarRight.Name, RangerSonarRight);
// *********************** wheel encoders - roughly 500 ticks per wheel revolution, 1200 ticks per meter.
encoderLeft = CreateWheelEncoder(hardwareBrick, WheelEncoderId.Encoder2, (int)mainLoopCycleMs, encodersSensitivityThresholdTicks);
encoderRight = CreateWheelEncoder(hardwareBrick, WheelEncoderId.Encoder1, (int)mainLoopCycleMs, encodersSensitivityThresholdTicks);
Compass = hardwareBrick.produceCompassCMPS03(0x60, CompassSamplingIntervalMs, CompassSensitivityThreshold);
Compass.HeadingChanged += new HardwareComponentEventHandler(Compass_HeadingChanged);
// arduino based AHRS - PWM DAC to pin 4:
Ahrs = hardwareBrick.produceAnalogSensor(AnalogPinId.A4, CompassSamplingIntervalMs, CompassSensitivityThreshold);
Ahrs.AnalogValueChanged += new HardwareComponentEventHandler(Ahrs_ValueChanged);
// arduino based AHRS - I2C does not connect:
//Ahrs = new I2CDevice(hardwareBrick);
//Ahrs.I2CAddress = 173; // The Wire library uses 7 bit addresses throughout.
// // If you have a datasheet or sample code that uses 8 bit address, you'll want to drop the low bit (i.e. shift the value one bit to the right),
// // yielding an address between 0 and 127. However the addresses from 0 to 7 are not used because are reserved so the first address that can be used is 8.
//Ahrs.WriteCommand = "234";
//Ahrs.ReadCommand = "6";
if (PixyCameraSensor != null)
{
try
{
await PixyCameraSensor.Open(cts);
PixyCameraSensor.TargetingCameraTargetsChanged += PixyCameraSensor_PixyCameraBlocksChanged;
}
catch (Exception exc)
{
speaker.Speak("Could not open Pixy Camera at " + PixyCameraSensor.ComPortName);
PixyCameraSensor = null;
}
}
batteryVoltage = CreateBatteryVoltageMeter(hardwareBrick, batterySamplingIntervalMs, batterySensitivityThresholdVolts);
batteryVoltage.Enabled = true; // slow update rate, leave it turned on
IrRangersEnabled = true; // if false, do not sample or update
SonarsEnabled = false; // will enable sonars with an interval 50ms to avoid interference
EncodersEnabled = true;
//CompassEnabled = true; // compass no good inside concrete buildings, use gyro instead
CompassEnabled = false;
Ahrs.Enabled = true;
if (PixyCameraSensor != null)
{
PixyCameraSensor.Enabled = true;
}
currentSensorsData = new SensorsDataShorty()
{
RangerSensors = this.RangerSensors
};
}
/// <summary>
///
/// </summary>
/// <param name="ddg"></param>
/// <param name="speaker"></param>
/// <param name="trackFileName">can be null, for a saved track</param>
public BehaviorRouteFollowing(IDriveGeometry ddg, ISpeaker speaker, string trackFileName)
: base(ddg)
{
this.speaker = speaker;
BehaviorActivateCondition = bd =>
{
return nextWp != null;
};
BehaviorDeactivateCondition = bd =>
{
return nextWp == null;
};
if (String.IsNullOrWhiteSpace(trackFileName))
{
speaker.Speak("Loading saved track");
try
{
missionTrack = null;
// Load stored waypoints:
// on the PC, from C:\Users\sergei\AppData\Local\Packages\RobotPluckyPackage_sjh4qacv6p1wm\LocalState\MyTrack.xml
// RPi: \\172.16.1.175\c$\Data\Users\DefaultAccount\AppData\Local\Packages\RobotPluckyPackage_sjh4qacv6p1wm\LocalState
Track track = SerializableStorage<Track>.Load(savedTrackFileName).Result;
if (track != null)
{
missionTrack = track;
speaker.Speak("Loaded file " + missionTrack.Count + " trackpoints");
}
}
catch (Exception ex)
{
speaker.Speak("could not load saved track file");
}
if(missionTrack == null)
{
speaker.Speak("failed to load saved track file");
missionTrack = new Track();
}
nextWp = missionTrack.nextTargetWp;
}
else
{
speaker.Speak("Loading file " + trackFileName);
missionTrack = new Track();
try
{
missionTrack.Init(trackFileName);
speaker.Speak("Loaded file " + missionTrack.Count + " trackpoints");
nextWp = missionTrack.nextTargetWp;
}
catch (Exception ex)
{
speaker.Speak("could not load planned track file");
}
}
}
