private async Task Initialze()
{
if (LightningProvider.IsLightningEnabled)
{
LowLevelDevicesController.DefaultProvider = LightningProvider.GetAggregateProvider();
}
else
{
throw new Exception("Lightning drivers not enabled. Please enable Lightning drivers.");
}
_camera = new Camera();
await _camera.Initialize();
SpeedSensor.Initialize();
SpeedSensor.Start();
SpeechSynthesis.Initialze();
await AudioPlayerController.Initialize();
_accelerometerSensor = new AccelerometerGyroscopeSensor();
await _accelerometerSensor.Initialize();
_accelerometerSensor.Start();
_automaticSpeakController = new AutomaticSpeakController(_accelerometerSensor);
_motorController = new MotorController();
await _motorController.Initialize(_automaticSpeakController);
_servoController = new ServoController();
await _servoController.Initialize();
_distanceMeasurementSensor = new DistanceMeasurementSensor();
await _distanceMeasurementSensor.Initialize(I2C_ADDRESS_SERVO);
_automaticDrive = new AutomaticDrive(_motorController, _servoController, _distanceMeasurementSensor);
_speechRecognation = new SpeechRecognition();
await _speechRecognation.Initialze(_motorController, _servoController, _automaticDrive);
_speechRecognation.Start();
_gamepadController = new GamepadController(_motorController, _servoController, _automaticDrive, _accelerometerSensor);
_camera.Start();
_httpServerController = new HttpServerController(_motorController, _servoController, _automaticDrive, _camera);
SystemController.Initialize(_accelerometerSensor, _automaticSpeakController, _motorController, _servoController, _automaticDrive, _camera, _httpServerController, _speechRecognation, _gamepadController);
await SystemController.SetAudioRenderVolume(AUDIO_RENDER_VOLUME, true);
await SystemController.SetAudioCaptureVolume(AUDIO_CAPTURE_VOLUME, true);
await AudioPlayerController.PlayAndWaitAsync(AudioName.Welcome);
_automaticSpeakController.Start();
}
public HttpServer(MotorController motorController,
ServoController servoController,
AutomaticDrive automaticDrive,
Camera camera)
{
_motorController = motorController;
_servoController = servoController;
_automaticDrive = automaticDrive;
_camera = camera;
_listener = GetStreamSocketListener();
}
public GamepadController(MotorController motorController,
ServoController servoController,
AutomaticDrive automaticDrive,
AccelerometerGyroscopeSensor acceleratorSensor)
{
if (_shutdown)
{
return;
}
_motorController = motorController;
_servoController = servoController;
_automaticDrive = automaticDrive;
_acceleratorSensor = acceleratorSensor;
Gamepad.GamepadAdded += GamepadAdded;
Gamepad.GamepadRemoved += GamepadRemoved;
}
public async Task Initialze(MotorController motorController,
ServoController servoController,
AutomaticDrive automaticDrive)
{
_motorController = motorController;
_servoController = servoController;
_automaticDrive = automaticDrive;
_speechRecognizer = new SpeechRecognizer(new Language("de-DE"));
var grammerFile = await Package.Current.InstalledLocation.GetFileAsync(@"Audio\SpeechRecognizerGrammer.xml");
var grammarConstraint = new SpeechRecognitionGrammarFileConstraint(grammerFile);
_speechRecognizer.Constraints.Add(grammarConstraint);
var compilationResult = await _speechRecognizer.CompileConstraintsAsync();
_speechRecognizer.ContinuousRecognitionSession.ResultGenerated += RecognationResult;
_speechRecognizer.ContinuousRecognitionSession.Completed += ContinuousRecognitionSession_Completed;
}
public HttpServerController(MotorController motorController,
ServoController servoController,
AutomaticDrive automaticDrive,
Camera camera)
{
Task.Factory.StartNew(() =>
{
_httpServer = new HttpServer(motorController,
servoController,
automaticDrive,
camera);
_httpServer.Start();
}, CancellationToken.None, TaskCreationOptions.LongRunning, TaskScheduler.Default)
.AsAsyncAction()
.AsTask()
.ContinueWith((t) =>
{
Logger.Write(nameof(HttpServerController), t.Exception).Wait();
SystemController.ShutdownApplication(true).Wait();
}, TaskContinuationOptions.OnlyOnFaulted);
}
public static void Initialize(AccelerometerGyroscopeSensor accelerometerSensor,
AutomaticSpeakController automaticSpeakController,
MotorController motorController,
ServoController servoController,
AutomaticDrive automaticDrive,
Camera camera,
HttpServerController httpServerController,
SpeechRecognition speechRecognation,
GamepadController gamepadController)
{
_accelerometerSensor = accelerometerSensor;
_automaticSpeakController = automaticSpeakController;
_motorController = motorController;
_servoController = servoController;
_automaticDrive = automaticDrive;
_camera = camera;
_httpServerController = httpServerController;
_speechRecognation = speechRecognation;
_gamepadController = gamepadController;
_initialized = true;
}