/// <summary>
/// Register the desired startup events, more may be registered separately as needed
/// </summary>
private void RegisterEvents()
{
//Bumps
_misty.RegisterBumpSensorEvent(BumpCallback, 0, true, null, null, null);
//Cap touch
_misty.RegisterCapTouchEvent(CapTouchCallback, 0, true, null, null, null);
//TOF
List <TimeOfFlightValidation> tofFrontRightValidations = new List <TimeOfFlightValidation>();
tofFrontRightValidations.Add(new TimeOfFlightValidation {
Name = TimeOfFlightFilter.DistanceInMeters, Comparison = ComparisonOperator.LessThanOrEqual, ComparisonValue = 0.3
});
tofFrontRightValidations.Add(new TimeOfFlightValidation {
Name = TimeOfFlightFilter.SensorName, Comparison = ComparisonOperator.Equal, ComparisonValue = TimeOfFlightPosition.FrontRight
});
_misty.RegisterTimeOfFlightEvent(TOFRangeCallback, 300, true, tofFrontRightValidations, null, null);
List <TimeOfFlightValidation> tofFrontLeftValidations = new List <TimeOfFlightValidation>();
tofFrontLeftValidations.Add(new TimeOfFlightValidation {
Name = TimeOfFlightFilter.DistanceInMeters, Comparison = ComparisonOperator.LessThanOrEqual, ComparisonValue = 0.3
});
tofFrontLeftValidations.Add(new TimeOfFlightValidation {
Name = TimeOfFlightFilter.SensorName, Comparison = ComparisonOperator.Equal, ComparisonValue = TimeOfFlightPosition.FrontLeft
});
_misty.RegisterTimeOfFlightEvent(TOFRangeCallback, 300, true, tofFrontLeftValidations, null, null);
List <TimeOfFlightValidation> tofBackValidations = new List <TimeOfFlightValidation>();
tofBackValidations.Add(new TimeOfFlightValidation {
Name = TimeOfFlightFilter.DistanceInMeters, Comparison = ComparisonOperator.LessThanOrEqual, ComparisonValue = 0.3
});
tofBackValidations.Add(new TimeOfFlightValidation {
Name = TimeOfFlightFilter.SensorName, Comparison = ComparisonOperator.Equal, ComparisonValue = TimeOfFlightPosition.Back
});
_misty.RegisterTimeOfFlightEvent(TOFRangeCallback, 300, true, tofBackValidations, null, null);
List <TimeOfFlightValidation> tofFrontCenterValidations = new List <TimeOfFlightValidation>();
tofFrontCenterValidations.Add(new TimeOfFlightValidation {
Name = TimeOfFlightFilter.DistanceInMeters, Comparison = ComparisonOperator.LessThanOrEqual, ComparisonValue = 0.3
});
tofFrontCenterValidations.Add(new TimeOfFlightValidation {
Name = TimeOfFlightFilter.SensorName, Comparison = ComparisonOperator.Equal, ComparisonValue = TimeOfFlightPosition.FrontCenter
});
_misty.RegisterTimeOfFlightEvent(TOFRangeCallback, 300, true, tofFrontCenterValidations, null, null);
}
/// <summary>
/// Register the desired startup events, more may be registered separately as needed
/// </summary>
private void RegisterEvents()
{
//Voice Rec
_misty.RegisterKeyPhraseRecognizedEvent(KeyPhraseRecognizedCallback, 0, true, null, null);
//Face rec
_misty.RegisterFaceRecognitionEvent(FaceRecCallback, 0, false, null, null, null);
//Bumps
_misty.RegisterBumpSensorEvent(BumpCallback, 0, true, null, null, null);
//Cap touch
_misty.RegisterCapTouchEvent(CapTouchCallback, 0, true, null, null, null);
//TOF
List <TimeOfFlightValidation> tofFrontRightValidations = new List <TimeOfFlightValidation>();
tofFrontRightValidations.Add(new TimeOfFlightValidation {
Name = TimeOfFlightFilter.DistanceInMeters, Comparison = ComparisonOperator.LessThanOrEqual, ComparisonValue = 0.15
});
tofFrontRightValidations.Add(new TimeOfFlightValidation {
Name = TimeOfFlightFilter.SensorName, Comparison = ComparisonOperator.Equal, ComparisonValue = TimeOfFlightPosition.FrontRight
});
_misty.RegisterTimeOfFlightEvent(TOFRangeCallback, 50, true, tofFrontRightValidations, null, null);
List <TimeOfFlightValidation> tofFrontLeftValidations = new List <TimeOfFlightValidation>();
tofFrontLeftValidations.Add(new TimeOfFlightValidation {
Name = TimeOfFlightFilter.DistanceInMeters, Comparison = ComparisonOperator.LessThanOrEqual, ComparisonValue = 0.15
});
tofFrontLeftValidations.Add(new TimeOfFlightValidation {
Name = TimeOfFlightFilter.SensorName, Comparison = ComparisonOperator.Equal, ComparisonValue = TimeOfFlightPosition.FrontLeft
});
_misty.RegisterTimeOfFlightEvent(TOFRangeCallback, 50, true, tofFrontLeftValidations, null, null);
List <TimeOfFlightValidation> tofBackValidations = new List <TimeOfFlightValidation>();
tofBackValidations.Add(new TimeOfFlightValidation {
Name = TimeOfFlightFilter.DistanceInMeters, Comparison = ComparisonOperator.LessThanOrEqual, ComparisonValue = 0.15
});
tofBackValidations.Add(new TimeOfFlightValidation {
Name = TimeOfFlightFilter.SensorName, Comparison = ComparisonOperator.Equal, ComparisonValue = TimeOfFlightPosition.Back
});
_misty.RegisterTimeOfFlightEvent(TOFRangeCallback, 50, true, tofBackValidations, null, null);
}
public SkillHelper(IRobotMessenger misty)
{
_misty = misty ?? throw new ArgumentNullException(nameof(misty));
_misty.RegisterDriveEncoderEvent(EncoderEventCallback, 100, true, null, "SkillHelperEncoderEvent", OnResponse);
_misty.RegisterIMUEvent(ImuEventCallback, 100, true, null, "SkillHelperIMUEvent", OnResponse);
_misty.RegisterTimeOfFlightEvent(TofEventCallback, 0, true, null, "SkillHelperTofEventEvent", OnResponse);
_misty.RegisterHazardNotificationEvent(HazardEventCallback, 0, true, "SkillHelperHazardEvent", OnResponse);
}
private void RegisterEvents()
{
//Register Bump Sensors with a callback
_misty.RegisterBumpSensorEvent(BumpCallback, 50, true, null, null, null);
//Front Right Time of Flight
List <TimeOfFlightValidation> tofFrontRightValidations = new List <TimeOfFlightValidation>();
tofFrontRightValidations.Add(new TimeOfFlightValidation {
Name = TimeOfFlightFilter.SensorName, Comparison = ComparisonOperator.Equal, ComparisonValue = TimeOfFlightPosition.FrontRight
});
_misty.RegisterTimeOfFlightEvent(TOFFRRangeCallback, 0, true, tofFrontRightValidations, "FrontRight", null);
//Front Left Time of Flight
List <TimeOfFlightValidation> tofFrontLeftValidations = new List <TimeOfFlightValidation>();
tofFrontLeftValidations.Add(new TimeOfFlightValidation {
Name = TimeOfFlightFilter.SensorName, Comparison = ComparisonOperator.Equal, ComparisonValue = TimeOfFlightPosition.FrontLeft
});
_misty.RegisterTimeOfFlightEvent(TOFFLRangeCallback, 0, true, tofFrontLeftValidations, "FrontLeft", null);
//Front Center Time of Flight
List <TimeOfFlightValidation> tofFrontCenterValidations = new List <TimeOfFlightValidation>();
tofFrontCenterValidations.Add(new TimeOfFlightValidation {
Name = TimeOfFlightFilter.SensorName, Comparison = ComparisonOperator.Equal, ComparisonValue = TimeOfFlightPosition.FrontCenter
});
_misty.RegisterTimeOfFlightEvent(TOFCRangeCallback, 0, true, tofFrontCenterValidations, "FrontCenter", null);
//Back Time of Flight
List <TimeOfFlightValidation> tofBackValidations = new List <TimeOfFlightValidation>();
tofBackValidations.Add(new TimeOfFlightValidation {
Name = TimeOfFlightFilter.SensorName, Comparison = ComparisonOperator.Equal, ComparisonValue = TimeOfFlightPosition.Back
});
_misty.RegisterTimeOfFlightEvent(TOFBRangeCallback, 0, true, tofBackValidations, "Back", null);
//Setting debounce a little higher to avoid too much traffic
//Firmware will do the actual stop for edge detection
List <TimeOfFlightValidation> tofFrontRightEdgeValidations = new List <TimeOfFlightValidation>();
tofFrontRightEdgeValidations.Add(new TimeOfFlightValidation {
Name = TimeOfFlightFilter.SensorName, Comparison = ComparisonOperator.Equal, ComparisonValue = TimeOfFlightPosition.DownwardFrontRight
});
_misty.RegisterTimeOfFlightEvent(FrontEdgeCallback, 1000, true, tofFrontRightEdgeValidations, "FREdge", null);
List <TimeOfFlightValidation> tofFrontLeftEdgeValidations = new List <TimeOfFlightValidation>();
tofFrontLeftEdgeValidations.Add(new TimeOfFlightValidation {
Name = TimeOfFlightFilter.SensorName, Comparison = ComparisonOperator.Equal, ComparisonValue = TimeOfFlightPosition.DownwardFrontLeft
});
_misty.RegisterTimeOfFlightEvent(FrontEdgeCallback, 1000, true, tofFrontLeftEdgeValidations, "FLEdge", null);
}
/// <summary>
/// This event handler is called when the robot/user sends a start message
/// The parameters can be set in the Skill Runner (or as json) and used in the skill if desired
/// </summary>
/// <param name="parameters"></param>
public void OnStart(object sender, IDictionary <string, object> parameters)
{
try
{
_misty.SendDebugMessage("MistyMiner skill started", null);
_misty.MoveHead(20, 0, 0, 0, AngularUnit.Position, null);
//_takeImageTimer = new Timer(CheckForOreCallback, null, 0, 5000);
_misty.RegisterCapTouchEvent(CheckForOreCallback, 1000, true, null, null, null);
_misty.RegisterIMUEvent(setYaw, 5, true, null, null, null);
List <ActuatorPositionValidation> HeadPositionValidation = new List <ActuatorPositionValidation>();
HeadPositionValidation.Add(new ActuatorPositionValidation {
Name = ActuatorPositionFilter.SensorName, Comparison = ComparisonOperator.Equal, ComparisonValue = ActuatorPosition.HeadPitch
});
_misty.RegisterActuatorEvent(setHeadPitch, 10, true, HeadPositionValidation, null, null);
List <ActuatorPositionValidation> ArmPositionValidation = new List <ActuatorPositionValidation>();
ArmPositionValidation.Add(new ActuatorPositionValidation {
Name = ActuatorPositionFilter.SensorName, Comparison = ComparisonOperator.Equal, ComparisonValue = ActuatorPosition.RightArm
});
_misty.RegisterActuatorEvent(setArmPitch, 100, true, ArmPositionValidation, null, null);
_misty.RegisterTimeOfFlightEvent(setTimeOfFlight, 0, true, null, null, null);
//Clean up any lingering runs
yaw.YawReached -= HandleYawReached;
yaw.YawReached -= HandleReturnYawReached;
yaw.YawReached -= FinalYaw;
tof.DistanceReached -= HandleOreReached;
tof.DistanceReached -= HandleReturnReached;
arm.ArmPosReached -= ArmDown;
arm.ArmPosReached -= ArmUp;
}
catch (Exception ex)
{
_misty.SkillLogger.Log($"MistyMiner : OnStart: => Exception", ex);
_misty.SendDebugMessage($"MistyMiner : OnStart: => Exception" + ex, null);
}
}
