D:/Projekte/Super-Yano/Super-Yano/RobotControl.h

gehe zur Dokumentation dieser Datei

#pragma once

using namespace System;
using namespace System::Xml;
using namespace System::Threading;
using namespace System::Runtime::InteropServices;


[DllImport("Facedetect.dll")] 
extern "C" int getNumberOfFaces( void );  
[DllImport("Facedetect.dll")] 
extern "C" double getMajorFaceRelativeX( void );  
[DllImport("Facedetect.dll")] 
extern "C" double getMajorFaceRelativeY( void );  
[DllImport("Facedetect.dll", CharSet=CharSet::Ansi)] 
extern "C" int getMajorFacePosX( void );  
[DllImport("Facedetect.dll", CharSet=CharSet::Ansi)] 
extern "C" int getMajorFacePosY( void );  
[DllImport("Facedetect.dll", CharSet=CharSet::Ansi)] 
extern "C" int getVideoSizeX( void );  
[DllImport("Facedetect.dll", CharSet=CharSet::Ansi)] 
extern "C" int getVideoSizeY( void );  

ref struct Servo 
{
        public: int minValue, maxValue, startValue, currentValue, neutralValue;
        public: String^ servoName; 

        public: Servo() 
                        {
                                servoName = "";
                                minValue = 500;
                                maxValue = 2500;
                                startValue = 1500;
                                neutralValue = 1500;
                                currentValue = 1500;
                        }

        public: Servo(String^ name, int minV, int maxV, int startV) 
                        {
                                servoName = name;
                                minValue = minV;
                                maxValue = maxV;
                                startValue = startV;
                                //neutralValue = startV;
                                neutralValue = ((maxValue - minValue) / 2) + minValue;
                                currentValue = startV;
                        }
};

ref class RobotControl
{


//Konstanten
public: static const int LEFT  = 1;
                static const int TOP = 1;
                static const int RIGHT = 0;
                static const int BOTTOM = 0;
                static const int CENTER = 2;

                static const int STOPPED = 0;
                static const int RUNNING = 1;
                static const int PAUSED  = 2;

                //emotional constants
                static const int SURPRISED = 0;   // überrascht
                static const int HAPPY     = 1;   // zufrieden
                static const int ANGRY     = 2;   // ärgerlich
                static const int CONTENT   = 3;   // offen, aufnehmend
                static const int STERN     = 4;   // ernst, abweisend
                static const int FEAR      = 5;   // ängstlich
                static const int SAD       = 6;   // traurig

                static int used_eye;

//Variablen
private: static array<double>^ emotion;   // Emotionsarray - zu jeder Emotion steht hier der aktuelle Faktor
private: static array<Servo^>^ servos;
private: static bool isSerialPort;
private: static int visemeCount;
private: static System::String^ serial_port_name;
private: static System::String^ serial_port_received_data = "";

private: static int blinkingState;
private: static int earTremorState;
private: static int visualAdjustmentThreadState;
private: static bool isMouthMovement;

private:
        static int ear_l;
        static int ear_r;
        static int lid_l;
        static int lid_r;
        static int eye_l;
        static int eye_r;
        static int brows;
        static int mouth;
        static int jaw;
        static int turn;
        static int pitch;


//Komponenten
private: static System::ComponentModel::IContainer^  components;
private: static System::IO::Ports::SerialPort^ serial_Port;
private: static SpeechLib::_ISpeechVoiceEvents_VisemeEventHandler^ spVisemeEventHandler;
private: static Threading::Thread^ blinkThread;
private: static Threading::Thread^ earTremorThread;
private: static Threading::Thread^ visualAdjustmentThread;

//Methoden

public:  static void construct(System::String^ port_name);

        //static methods
private: static void blink(void);
private: static void earTremorISR(void);
private: static void visualAdjustmentThreadISR(void);

        //serial Port
public:  static void serialPort_DataReceived(System::Object^  sender, System::IO::Ports::SerialDataReceivedEventArgs^  e);
public:  static System::String^ getComPortName(void);
public:  static array<System::String^, 1>^ getComPortNames(void);
private: static System::String^ findComport(System::String^ start_port_for_search);

        //servo stuff
public:  static System::String^ getServoDescription(int servoNumber);
public:  static int getServoMinValue(int servoNumber);
public:  static int getServoMaxValue(int servoNumber);
public:  static int getServoStartValue(int servoNumber);
private: static void initiateServoSettings(void);
private: static void setServoValue(int servo_nr, int servo_speed, int servo_value);

        //general stuff
public:  static void setMouthSilentViseme(void);
public:  static void setServosEnable(bool enabled);
public:  static void setBlinkingThreadPaused(bool paused);
public:  static void setEarTremorThreadPaused(bool paused);
public:  static void setVisualAdjustmentThreadPaused(bool paused);
public:  static void setMouthMovementEnabled(bool enabled);
public:  static void initiateRobot(void);
public:  static void setCamera(int camera);
public:  static void showDisplay(String^ text);
public:  static SpeechLib::_ISpeechVoiceEvents_VisemeEventHandler^ getVisemeEventHandler(void);

   //internal methods
private: static void setEyeOpen(int eye, bool eyeOpened);
private: static void readServoSettings(void);
private: static void speechVisemeEvent(int streamNumber, System::Object^ streamPosition, int duration, SpeechLib::SpeechVisemeType nextVisemeID, SpeechLib::SpeechVisemeFeature feature, SpeechLib::SpeechVisemeType currentVisemeId);


public: static void destroy()
{
        blinkingState = STOPPED;
        earTremorState = STOPPED;
        visualAdjustmentThreadState = STOPPED;
        blinkThread->Join();
        earTremorThread->Join();
        visualAdjustmentThread->Join();


        if(isSerialPort == true)
        {
                try
                {
                        if (!serial_Port->IsOpen) serial_Port->Open();
                        serial_Port->WriteLine("U!SCSBR"+"\0");
                        Threading::Thread::Sleep(1500);
                        serial_Port->Close();
                        serial_Port->BaudRate = 2400;
                        serial_Port->Open();
                        serial_Port->WriteLine("U!SCVER?");
                }
                catch (Exception^ )
                {
                        serial_Port->Close();
                        isSerialPort = false;
                }
        }

        if (serial_Port->IsOpen) serial_Port->Close();
        

        if (components)
    {
      delete components;
        }
}

};

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