private int SearchRequest(int currentState, object o)
{
bool gestureFound = false;
for (int i = 0; i < 18; ++i)
{
Thread.Sleep(500);
if (gestureFound = brain.FindSpecificGesture("request", out requestId))
{
cmdMan.MVN_PLN_fixhuman(requestId, 4000);
TextBoxStreamWriter.DefaultLog.WriteLine("HAL9000.-> Gesture found.");
brain.SayAsync("I found a request.");
break;
}
}
if (!gestureFound)
{
if (attemptCounter > 7)
{
attemptCounter = 0;
finalState = FinalStates.RequestNotFound;
return((int)States.FinalState);
}
cmdMan.MVN_PLN_move(0, -Math.PI / 4, 4000);
if (attemptCounter % 2 == 1)
{
brain.SayAsync("I am looking for requests, please raise your hand above your head.");
}
attemptCounter++;
return(currentState);
}
// Si encontro humano, pasa al siguiente estado
attemptCounter = 0;
return((int)States.GoToRequest);
}