YodaAnamation.groovy

import com.neuronrobotics.sdk.addons.kinematics.MobileBase;
import com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics;
import org.apache.commons.io.IOUtils;
import java.awt.image.BufferedImage;
import com.neuronrobotics.imageprovider.Detection;
import java.util.List;

OpenCVImageProvider eye=null;
if(DeviceManager.getSpecificDevice(OpenCVImageProvider.class, "eye")==null){
	eye= new OpenCVImageProvider(0);
	DeviceManager.addConnection(eye,"eye");
}else{
  eye=(OpenCVImageProvider)DeviceManager.getSpecificDevice(OpenCVImageProvider.class, "eye");
}
// Starting with the connected camera from BowlerStudio
println(eye)
//Create the default detector using "lbpcascade_frontalface.xml" 
IObjectDetector detector = new HaarDetector("lbpcascade_frontalface.xml")
// Create the input and display images. The display is where the detector writes its detections overlay on the input image
BufferedImage inputImage = AbstractImageProvider.newBufferImage(640,480)
BufferedImage displayImage = AbstractImageProvider.newBufferImage(640,480)

DyIO d=null;
if(DeviceManager.getSpecificDevice(DyIO.class, "dyio")==null){
	d = new DyIO(ConnectionDialog.promptConnection()); // This is the DyIO to talk to.
	d.connect(); // Connect to it.
	DeviceManager.addConnection(d,"dyio");
}else{
  d=(DyIO)DeviceManager.getSpecificDevice(DyIO.class, "dyio");
}

String xmlContent=null;
//define the file to load
xmlContent = ScriptingEngineWidget.codeFromGistID("3005490fa78c2c3daac1","Yodaconfiguration.xml")[0];
MobileBase model=null;
DHParameterKinematics puppet;
if(DeviceManager.getSpecificDevice(MobileBase.class, "yoda")==null){
	model = new MobileBase(IOUtils.toInputStream(xmlContent, "UTF-8"));
	//Add the custom inverse solver
	DeviceManager.addConnection(model,"yoda");
}else{
	model = (MobileBase)DeviceManager.getSpecificDevice(MobileBase.class, "yoda");
}
puppet = model.getAppendages().get(0);

puppet.setDesiredTaskSpaceTransform(new TransformNR(	
			0,// X position
 			-150,// y position
			80,
			new RotationNR()), 
			0);// Seconds for translation

ServoChannel mouth = new ServoChannel (d.getChannel(15));

mouth.SetPosition(0, 0);

// Loop checking the camera for faces
while(!Thread.interrupted()){
  eye.getLatestImage(inputImage,displayImage)               // capture image
  List<Detection>  data = detector.getObjects(inputImage, displayImage)
  if(data.size()>0){
    break;
  }
}

void say(String thingToSay,ServoChannel mouth,DHParameterKinematics puppet, double x, double y, double z ){

	int MouthClosedPosition=0
	int MouthOpenPosition=50
	new Thread(){
		public void run(){
			BowlerStudio.speak(thingToSay)
		}
	}.start()
	println thingToSay.length()
	for(int I=0; I<(thingToSay.length()/2.5);I++){
		int oddEven=I%2
		if (oddEven==0){
			mouth.SetPosition(MouthClosedPosition, 0.1);

			//do something
		}else{
			mouth.SetPosition(MouthOpenPosition, 0.1);

			//do something else
		}
		ThreadUtil.wait(150)
		
	}
	mouth.SetPosition(MouthClosedPosition, 0);
	ThreadUtil.wait(1000)
	puppet.setDesiredTaskSpaceTransform(new TransformNR(	
		x,// X position
 		y,// y position
		z,
		new RotationNR()), 
		0.5);// Seconds for translation
}
say("yoda I am",mouth,puppet,43.518,-146.9, 81.317)
say("Ask questions, I do not.",mouth,puppet,21.728,-144.032, 66.635)
say("Know answers, I do.",mouth,puppet,50.223,-130.029, 98.734)
say("Hungry I am, need a hamburger, I do.",mouth,puppet,0,-150, 80)
say("Eat hamburgers, I do not. Eat batteries, I do.",mouth,puppet,
			39.468,// X position
 			-145.481,// y position
			69.878)
say("Do.",mouth,puppet,	-45.881,// X position
 			-120.856,// y position
			71.344)
say("or do not.",mouth,puppet,
			-48.686,// X position
 			-171.610,// y position
			76.173)
say("There is no try.",mouth,puppet,
			0.003,// X position
 			-136.121,// y position
			110.154)
say("Fear is the path to the dark side.",mouth,puppet,
			0,// X position
 			-150,// y position
			80)
say("Fear leads to anger, anger leads to hate, hate leads to suffering.",mouth,puppet,
			0,// X position
 			-150,// y position
			80)
say("Train yourself to let go of everything you fear to lose.",mouth,puppet,
			0,// X position
 			-150,// y position
			80)
say("Ready are you?",mouth,puppet,
			0,// X position
 			-150,// y position
			80)
say("What know you of ready?",mouth,puppet,
			0,// X position
 			-150,// y position
			80)
say("Go to the jedi temple, we must. Fight the separatists, we will.",mouth,puppet,
			0,// X position
 			-150,// y position
			80)
say("May the force be with you.",mouth,puppet,
			0,// X position
 			-150,// y position
			80)