private static void ShowCommandSent(object sender, RobotCommandDetails details)
{
//do something
}
/// <summary>
/// When certain commands are trigered, we might want to do something else like trigger an event
/// </summary>
/// <param name="command"></param>
/// <param name="callback"></param>
private async void HandleRobotCommand(object sender, RobotCommandDetails details)
{
var command = details.RobotCommand;
switch (command.MessageType)
{
//These commands trigger events if the skill is regisered
case MessageType.Stop:
if (_locomotionCommandEventDetails != null)
{
MockedRobot.TriggerRobotEvent(new LocomotionCommandEvent(0, 0, _locomotionCommandEventDetails.EventId));
}
break;
case MessageType.Drive:
if (_locomotionCommandEventDetails != null)
{
DriveCommand newCommand = (DriveCommand)command;
MockedRobot.TriggerRobotEvent(new LocomotionCommandEvent(newCommand.LinearVelocity, newCommand.AngularVelocity, _locomotionCommandEventDetails.EventId));
}
break;
case MessageType.DriveTime:
if (_locomotionCommandEventDetails != null)
{
DriveTimeCommand newCommand = (DriveTimeCommand)command;
MockedRobot.TriggerRobotEvent(new LocomotionCommandEvent(newCommand.LinearVelocity, newCommand.AngularVelocity, _locomotionCommandEventDetails.EventId));
}
break;
case MessageType.Halt:
if (_haltCommandEventDetails != null)
{
HaltCommand newCommand = (HaltCommand)command;
MockedRobot.TriggerRobotEvent(new HaltCommandEvent(newCommand.MotorMasks, _haltCommandEventDetails.EventId));
}
break;
case MessageType.PlayAudio:
if (_audioPlayCompleteCommandEventDetails != null)
{
PlayAudioCommand newCommand = (PlayAudioCommand)command;
await Task.Delay(3000); //send an event 3 seconds after started playing for now...
MockedRobot.TriggerRobotEvent(new AudioPlayCompleteEvent(newCommand.FileName, _audioPlayCompleteCommandEventDetails.EventId));
}
break;
//Update state flag so know if events should really be sent
case MessageType.StartKeyPhraseRecognition:
_keyPhraseRecRunning = true;
break;
case MessageType.StopKeyPhraseRecognition:
_keyPhraseRecRunning = false;
break;
case MessageType.StartFaceDetection:
_faceDetectRunning = true;
break;
case MessageType.StartFaceRecognition:
_faceRecRunning = true;
break;
case MessageType.StopFaceDetection:
_faceDetectRunning = false;
break;
case MessageType.StopFaceRecognition:
_faceRecRunning = false;
break;
}
}