public CommandGrammarBuilder(MainController.State state, ObjectLibrary lib)
{
this.strings = new List<string>();
switch (state)
{
case MainController.State.waiting:
this.grammar = buildWaitingGrammar();
break;
case MainController.State.start:
this.grammar = buildStartGrammar(lib);
break;
case MainController.State.learn:
this.grammar = null;
break;
case MainController.State.find:
this.grammar = buildFindGrammar();
break;
case MainController.State.confirmation:
this.grammar = buildConfGrammar();
break;
case MainController.State.getName:
this.grammar = buildGetNameGrammar();
break;
case MainController.State.getProperties:
this.grammar = buildGetPropertiesGrammar();
break;
}
}
public NavigationController(MainController main, NaoController nao, ObjectLibrary lib)
{
this.stopped = false;
this.nao = nao;
this.lib = lib;
this.main = main;
}
public MainController(MainWindow window)
{
this.window = window;
this.nao = new NaoController(NAO_IP, this);
this.thriftTransport = new TSocket(SERVER_IP, 9090);
thriftTransport.Open();
TProtocol protocol = new TBinaryProtocol(thriftTransport);
this.thriftClient = new Rpc.Client(protocol);
this.lib = new ObjectLibrary(this, this.thriftClient, MainController.OBJECT_LIB_PATH);
this.updateThread = new Thread(this.lib.updatePointClouds);
this.updateThread.Start();
this.nav = new NavigationController(this, nao, lib);
this.navThread = null;
switchStates(State.waiting);
}
private Grammar buildStartGrammar(ObjectLibrary lib)
{
this.prefix = "nao";
GrammarBuilder builder = new GrammarBuilder("nao");
Choices topLevel = new Choices();
topLevel.Add("identify known objects");
this.strings.Add("identify known objects");
topLevel.Add("learn unknown objects");
this.strings.Add("learn unknown objects");
string[] properties = lib.getProperties().ToArray();
if (properties.Length != 0)
{
GrammarBuilder propertyGrammar = new GrammarBuilder("find all");
propertyGrammar.Append(new Choices(properties));
propertyGrammar.Append("objects");
topLevel.Add(propertyGrammar);
this.strings.Add("find all {" + toString(properties) + "} objects");
}
string[] identifiers = lib.getIdentifiers().ToArray();
if (identifiers.Length != 0)
{
GrammarBuilder identifierGrammar = new GrammarBuilder("locate");
identifierGrammar.Append(new Choices(identifiers));
topLevel.Add(identifierGrammar);
this.strings.Add("locate {" + toString(identifiers) + "}");
}
builder.Append(topLevel);
return new Grammar(builder);
}