private void Cleanup()
{
_followPath?.Abort();
_skillHelper?.Abort();
_misty.UnregisterAllEvents(OnResponse);
_misty.SkillCompleted();
}
private void Cleanup()
{
_followPath?.Abort();
_docker?.Abort();
_mapNav?.Abort();
_skillHelper?.Abort();
_misty.SkillCompleted();
}
/// <summary>
/// Called when the robot wants to start this skill
/// </summary>
/// <param name="parameters"></param>
public void OnStart(object sender, IDictionary <string, object> parameters)
{
try
{
//These calls assume system assets on the robot at the time of writing.
//Update as needed for new or different assets or as an exercise to allow user to pass in asset names :)
_misty.PlayAudio("s_Acceptance.wav", 100, null);
_misty.MoveHead(45, 25, 0, 50, AngularUnit.Degrees, null);
_misty.MoveArms(0, 45, 25, 60, null, AngularUnit.Degrees, null);
_misty.ChangeLED(0, 255, 0, null);
_misty.DisplayImage("e_Disoriented.jpg", 1, null);
//Pause for 4 seconds, if the cancellation token is set during this time, exit the pause and the method
if (!_misty.Wait(4000))
{
return;
}
_misty.PlayAudio("s_Awe2.wav", 100, null);
_misty.MoveHead(75, 15, 30, 50, AngularUnit.Degrees, null);
_misty.MoveArms(-45, 0, 60, 100, null, AngularUnit.Degrees, null);
_misty.ChangeLED(0, 255, 255, null);
_misty.DisplayImage("e_ContentRight.jpg", 1, null);
//Pause for 3.5 seconds, if the cancellation token is set during this time, exit the pause and the method
if (!_misty.Wait(3500))
{
return;
}
_misty.PlayAudio("s_Joy.wav", 100, null);
_misty.MoveHead(75, 25, 10, 50, AngularUnit.Degrees, null);
_misty.MoveArms(-45, 45, 60, 100, null, AngularUnit.Degrees, null);
_misty.ChangeLED(255, 255, 255, null);
_misty.DisplayImage("e_ContentLeft.jpg", 1, null);
//Pause for 2.5 seconds, if the cancellation token is set during this time, exit the pause and the method
if (!_misty.Wait(2500))
{
return;
}
_misty.PlayAudio("s_PhraseHello.wav", 100, null);
_misty.MoveHead(-10, 0, -10, 50, AngularUnit.Degrees, null);
_misty.MoveArms(0, -45, 60, 100, null, AngularUnit.Degrees, null);
_misty.ChangeLED(0, 0, 255, null);
_misty.DisplayImage("e_Joy.jpg", 1, null);
//Tell the robot the skill has completed early
_misty.SkillCompleted();
}
catch (Exception ex)
{
_misty.SkillLogger.Log($"HelloWorldSkill : OnStart: => Exception", ex);
}
}
