/// <summary>
/// The robot leaves the arena
/// </summary>
/// <returns>FinalState state to finish this state</returns>
private int LeaveArena(int currentState, object o)
{
TextBoxStreamWriter.DefaultLog.WriteLine("HAL9000.-> LeaveArena state reached.");
cmdMan.SPG_GEN_say(SMConfiguration.SPGEN_leavingArena, 5000);
NavigateTo sm_navigation = new NavigateTo(this.brain, this.cmdMan, SMConfiguration, SMConfiguration.MVNPLN_exitLocation);
NavigateTo.Status navig_status = sm_navigation.Execute();
if (navig_status == NavigateTo.Status.OK)
{
attemptCounter = 0;
return((int)States.FinalState);
}
else
{
attemptCounter++;
//the robot cannot navigate to exit
if (attemptCounter < attemptLimit)
{
TextBoxStreamWriter.DefaultLog.WriteLine("HAL9000.-> Cannot navigate to the exit at attempt: " + attemptCounter + ". Trying again.");
return((int)States.LeaveArena);
}
else
{
//reset the attempt counter
TextBoxStreamWriter.DefaultLog.WriteLine("HAL9000.-> Cannot navigate to the exit. Try to continue with the test.");
attemptCounter = 0;
return((int)States.FinalState);
}
}
}
/// <summary>
/// the robot navigate to the operator location
/// </summary>
/// <returns>WaitForCommand state if the navigation primiive was executed succesfully. NavigateToOperator otherwise.</returns>
private int NavigateToOperator(int currentState, object o)
{
TextBoxStreamWriter.DefaultLog.WriteLine("HAL9000.-> NavigateToOperator state reached.");
NavigateTo sm_navigation = new NavigateTo(this.brain, this.cmdMan, SMConfiguration, SMConfiguration.MVNPLN_operatorLocation);
NavigateTo.Status navig_status = sm_navigation.Execute();
if (navig_status == NavigateTo.Status.OK)
{
//if the robot reach the location then ask for a command
cmdMan.SPG_GEN_say(SMConfiguration.SPGEN_waitforcomman, 5000);
Thread.Sleep(1000);
brain.recognizedSentences.Clear();
attemptCounter = 0;
return((int)States.WaitForCommand);
}
else
{
attemptCounter++;
//the robot cannot navigate to
if (attemptCounter < attemptLimit)
{
TextBoxStreamWriter.DefaultLog.WriteLine("HAL9000.-> connot navigate to te aperator at attempt: " + attemptCounter + ". Trying again.");
return((int)States.NavigateToOperator);
}
else
{
//reset the attempt counter
TextBoxStreamWriter.DefaultLog.WriteLine("HAL9000.-> Cannot navigate to the operator. Try to continue with the test.");
attemptCounter = 0;
return((int)States.WaitForCommand);
}
}
}
/// <summary>
/// Executes all the primitives SM in order to perform the entire task
/// </summary>
/// <returns>LeaveArena state</returns>
private int PerformCommand(int currentState, object o)
{
TextBoxStreamWriter.DefaultLog.WriteLine("HAL9000.-> PerformCommand state reached.");
//exxecute all the primitives (one by one)
foreach (string action in SMConfiguration.setOfActions)
{
char[] delimiters = { ' ' };
//get the parameters for each primitive
string clean_action = action.Replace('\r', ' ');
string[] parameters = clean_action.Split(delimiters, StringSplitOptions.RemoveEmptyEntries);
//the first parameter allways is the primitive to execute
if (parameters.Length > 0)
{
switch (parameters[0])
{
case "answer_question":
TextBoxStreamWriter.DefaultLog.WriteLine("HAL9000.-> SM to Execute: AnswerQuestion.");
//no parameters
AnswerQuestion sm_aq = new AnswerQuestion(this.brain, this.cmdMan, this.SMConfiguration);
AnswerQuestion.Status finalStatus_aq = sm_aq.Execute();
break;
case "bring_object":
TextBoxStreamWriter.DefaultLog.WriteLine("HAL9000.-> SM to Execute: Bringobject.");
//1 parameter (object name)
BringObject sm_bo = new BringObject(this.brain, this.cmdMan, this.SMConfiguration, parameters[1]);
BringObject.Status finalStatus_bo = sm_bo.Execute();
break;
case "navigate_to":
TextBoxStreamWriter.DefaultLog.WriteLine("HAL9000.-> SM to Execute: NavigateTo.");
//1 parameter (location name/class)
NavigateTo sm_nt = new NavigateTo(this.brain, this.cmdMan, this.SMConfiguration, parameters[1]);
NavigateTo.Status finalStatus_nt = sm_nt.Execute();
break;
case "take_object":
TextBoxStreamWriter.DefaultLog.WriteLine("HAL9000.-> SM to Execute: TakeObject.");
//1 parameter (object name)
TakeObject sm_to = new TakeObject(this.brain, this.cmdMan, this.SMConfiguration, parameters[1]);
TakeObject.Status finalStatus_to = sm_to.Execute();
break;
case "tell_phrase":
TextBoxStreamWriter.DefaultLog.WriteLine("HAL9000.-> SM to Execute: TellPhrase.");
//1 parameter (kind of phrase to say)
TellPhrase sm_tp = new TellPhrase(this.brain, this.cmdMan, this.SMConfiguration, parameters[1]);
TellPhrase.Status finalStatus_tp = sm_tp.Execute();
break;
case "find_person":
TextBoxStreamWriter.DefaultLog.WriteLine("HAL9000.-> SM to Execute: FindPerson.");
//no parameters
//FindPerson sm_fp = new FindPerson(this.brain, this.cmdMan, this.SMConfiguration);
//FindPerson.Status finalStatus_fp = sm_fp.Execute();
break;
default:
TextBoxStreamWriter.DefaultLog.WriteLine("HAL9000.-> The primitive " + parameters[0] + " was not found.");
break;
}
}
}
finalStatus = Status.OK;
TextBoxStreamWriter.DefaultLog.WriteLine("HAL9000.-> All primitives were executed.");
//TODO:
//Descomponer las siguientes dependencias conceptuales:
/*
* # take [object] from [location] and deliver to [person]
* navigate_to [location]
* search_and_find [object]
* navigate_to [person_location]
* bring
* # take [object] from [location] and deliver to [me]
* navigate_to [location]
* search_and_find [object]
* navigate_to [me]
* bring
* # take [object] from [location1] and deliver to [location2]
* navigate_to [location1]
* search_and_take [object]
* navigate_to [location2]
* bring
* # go to [location] and find [person]
* navigate_to [location]
* find [person]
* # find person in [location] and talk [phrase]
* navigate_to [location]
* find [person]
* tellphrase [phrase]
*/
return((int)States.LeaveArena);
}
/// <summary>
/// Executes all the primitives SM in order to perform the entire task
/// </summary>
/// <returns>LeaveArena state</returns>
private int PerformCommand(int currentState, object o)
{
TextBoxStreamWriter.DefaultLog.WriteLine("HAL9000.-> PerformCommand state reached.");
//exxecute all the primitives (one by one)
foreach (string action in SMConfiguration.setOfActions)
{
char[] delimiters = {' '};
//get the parameters for each primitive
string clean_action = action.Replace('\r',' ');
string[] parameters = clean_action.Split(delimiters, StringSplitOptions.RemoveEmptyEntries);
//the first parameter allways is the primitive to execute
if (parameters.Length > 0)
{
switch (parameters[0])
{
case "answer_question":
TextBoxStreamWriter.DefaultLog.WriteLine("HAL9000.-> SM to Execute: AnswerQuestion.");
//no parameters
AnswerQuestion sm_aq = new AnswerQuestion(this.brain, this.cmdMan, this.SMConfiguration);
AnswerQuestion.Status finalStatus_aq = sm_aq.Execute();
break;
case "bring_object":
TextBoxStreamWriter.DefaultLog.WriteLine("HAL9000.-> SM to Execute: Bringobject.");
//1 parameter (object name)
BringObject sm_bo = new BringObject(this.brain, this.cmdMan, this.SMConfiguration, parameters[1]);
BringObject.Status finalStatus_bo = sm_bo.Execute();
break;
case "navigate_to":
TextBoxStreamWriter.DefaultLog.WriteLine("HAL9000.-> SM to Execute: NavigateTo.");
//1 parameter (location name/class)
NavigateTo sm_nt = new NavigateTo(this.brain, this.cmdMan, this.SMConfiguration, parameters[1]);
NavigateTo.Status finalStatus_nt = sm_nt.Execute();
break;
case "take_object":
TextBoxStreamWriter.DefaultLog.WriteLine("HAL9000.-> SM to Execute: TakeObject.");
//1 parameter (object name)
TakeObject sm_to = new TakeObject(this.brain, this.cmdMan, this.SMConfiguration, parameters[1]);
TakeObject.Status finalStatus_to = sm_to.Execute();
break;
case "tell_phrase":
TextBoxStreamWriter.DefaultLog.WriteLine("HAL9000.-> SM to Execute: TellPhrase.");
//1 parameter (kind of phrase to say)
TellPhrase sm_tp = new TellPhrase(this.brain, this.cmdMan, this.SMConfiguration, parameters[1]);
TellPhrase.Status finalStatus_tp = sm_tp.Execute();
break;
case "find_person":
TextBoxStreamWriter.DefaultLog.WriteLine("HAL9000.-> SM to Execute: FindPerson.");
//no parameters
//FindPerson sm_fp = new FindPerson(this.brain, this.cmdMan, this.SMConfiguration);
//FindPerson.Status finalStatus_fp = sm_fp.Execute();
break;
default:
TextBoxStreamWriter.DefaultLog.WriteLine("HAL9000.-> The primitive " + parameters[0] + " was not found.");
break;
}
}
}
finalStatus = Status.OK;
TextBoxStreamWriter.DefaultLog.WriteLine("HAL9000.-> All primitives were executed.");
//TODO:
//Descomponer las siguientes dependencias conceptuales:
/*
* # take [object] from [location] and deliver to [person]
* navigate_to [location]
* search_and_find [object]
* navigate_to [person_location]
* bring
* # take [object] from [location] and deliver to [me]
* navigate_to [location]
* search_and_find [object]
* navigate_to [me]
* bring
* # take [object] from [location1] and deliver to [location2]
* navigate_to [location1]
* search_and_take [object]
* navigate_to [location2]
* bring
* # go to [location] and find [person]
* navigate_to [location]
* find [person]
* # find person in [location] and talk [phrase]
* navigate_to [location]
* find [person]
* tellphrase [phrase]
*/
return (int)States.LeaveArena;
}
/// <summary>
/// the robot navigate to the operator location
/// </summary>
/// <returns>WaitForCommand state if the navigation primiive was executed succesfully. NavigateToOperator otherwise.</returns>
private int NavigateToOperator(int currentState, object o)
{
TextBoxStreamWriter.DefaultLog.WriteLine("HAL9000.-> NavigateToOperator state reached.");
NavigateTo sm_navigation = new NavigateTo(this.brain, this.cmdMan, SMConfiguration, SMConfiguration.MVNPLN_operatorLocation);
NavigateTo.Status navig_status = sm_navigation.Execute();
if (navig_status == NavigateTo.Status.OK)
{
//if the robot reach the location then ask for a command
cmdMan.SPG_GEN_say(SMConfiguration.SPGEN_waitforcomman, 5000);
Thread.Sleep(1000);
brain.recognizedSentences.Clear();
attemptCounter = 0;
return (int)States.WaitForCommand;
}
else
{
attemptCounter++;
//the robot cannot navigate to
if (attemptCounter < attemptLimit)
{
TextBoxStreamWriter.DefaultLog.WriteLine("HAL9000.-> connot navigate to te aperator at attempt: " + attemptCounter + ". Trying again.");
return (int)States.NavigateToOperator;
}
else
{
//reset the attempt counter
TextBoxStreamWriter.DefaultLog.WriteLine("HAL9000.-> Cannot navigate to the operator. Try to continue with the test.");
attemptCounter = 0;
return (int)States.WaitForCommand;
}
}
}
/// <summary>
/// The robot leaves the arena
/// </summary>
/// <returns>FinalState state to finish this state</returns>
private int LeaveArena(int currentState, object o)
{
TextBoxStreamWriter.DefaultLog.WriteLine("HAL9000.-> LeaveArena state reached.");
cmdMan.SPG_GEN_say(SMConfiguration.SPGEN_leavingArena, 5000);
NavigateTo sm_navigation = new NavigateTo(this.brain, this.cmdMan, SMConfiguration, SMConfiguration.MVNPLN_exitLocation);
NavigateTo.Status navig_status = sm_navigation.Execute();
if (navig_status == NavigateTo.Status.OK)
{
attemptCounter = 0;
return (int)States.FinalState;
}
else
{
attemptCounter++;
//the robot cannot navigate to exit
if (attemptCounter < attemptLimit)
{
TextBoxStreamWriter.DefaultLog.WriteLine("HAL9000.-> Cannot navigate to the exit at attempt: " + attemptCounter + ". Trying again.");
return (int)States.LeaveArena;
}
else
{
//reset the attempt counter
TextBoxStreamWriter.DefaultLog.WriteLine("HAL9000.-> Cannot navigate to the exit. Try to continue with the test.");
attemptCounter = 0;
return (int)States.FinalState;
}
}
}