Project: engagement_generation License: BSD Dependencies: engagement_msgs engagement_srvs bml_msgs bml_srvs bml_realizer Used by: None All Packages

engagement_generation/src/edu/wpi/hri/gen/comm/BMLRealizer.java Go to the documentation of this file. /* * Software License Agreement (BSD License) * * Copyright (c) 2010, Worcester Polytechnic Institute * All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions * are met: * * * Redistributions of source code must retain the above copyright * notice, this list of conditions and the following disclaimer. * * Redistributions in binary form must reproduce the above * copyright notice, this list of conditions and the following * disclaimer in the documentation and/or other materials provided * with the distribution. * * Neither the name of Worcester Polytechnic Institute. nor the names * of its contributors may be used to endorse or promote products * derived from this software without specific prior written permission. * * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE * POSSIBILITY OF SUCH DAMAGE. */ package edu.wpi.hri.gen.comm; import java.util.ArrayList; import java.util.List; import ros.NodeHandle; import ros.RosException; import ros.ServiceClient; import ros.Subscriber; import ros.pkg.engagement_msgs.msg.BCOccurrence; import ros.pkg.bml_msgs.msg.BMLPerformance; import ros.pkg.bml_msgs.msg.Behavior; import ros.pkg.bml_msgs.msg.BehaviorResult; import ros.pkg.bml_msgs.msg.Flag; import ros.pkg.engagement_msgs.msg.HumanBackchannel; import ros.pkg.bml_srvs.srv.BMLRealization; import edu.wpi.hri.comm.MasterSpinner; import edu.wpi.hri.gen.ebml.EBMLList; import edu.wpi.hri.log.Logger; import edu.wpi.hri.log.Logger.Colors; import edu.wpi.hri.log.Logger.LoggerLevel; public class BMLRealizer { private final ServiceClient<BMLRealization.Request, BMLRealization.Response, BMLRealization> realizeSrv; private final Subscriber<BMLPerformance> performSub; private final Subscriber<HumanBackchannel> bcSub; private final Logger logger; private final MasterSpinner spinner; private List<BCOccurrence> backchannels; private Behavior currentBehavior; public BMLRealizer(NodeHandle handle, MasterSpinner spin, Logger logger) throws RosException { this.logger = logger.sub(Colors.BML, "BML"); this.realizeSrv = handle.serviceClient("bml/realize", new BMLRealization()); this.performSub = handle.subscribe("bml/performing", new BMLPerformance(), new PerformanceCallback(), 100); this.bcSub = handle.subscribe("recognition/human/backchannel", new HumanBackchannel(), new BCSubscriber(), 100); this.spinner = spin; this.backchannels = null; this.currentBehavior = null; this.logger.debug(LoggerLevel.INIT, "Created ..."); } public void shutdown() { this.realizeSrv.shutdown(); this.performSub.shutdown(); this.bcSub.shutdown(); } public Result sendBML(EBMLList list) { this.spinner.startNewMaster(); String bml = list.toBML(); // only allow one realization at a time synchronized (this) { // create the request object this.logger.debug(LoggerLevel.IO, "sending :" + bml); BMLRealization.Request req = new BMLRealization.Request(); req.bml = bml; try { // create a list for backchannels to be placed in ArrayList<BCOccurrence> backs = new ArrayList<BCOccurrence>(); this.backchannels = backs; // then call the realization service BMLRealization.Response res = this.realizeSrv.call(req); return new Result(res.success.value, res.behaviors, backs); } catch (RosException e) { this.logger.error("Could not call realization: " + e.getMessage()); } // something bad happened when calling the realization service return new Result(Flag.FAILURE, new ArrayList<BehaviorResult>(), new ArrayList<BCOccurrence>()); } } public static class Result { public final byte success; public final ArrayList<BehaviorResult> behaviors; public final ArrayList<BCOccurrence> backchannels; Result(byte success, ArrayList<BehaviorResult> behav, ArrayList<BCOccurrence> backs) { this.success = success; this.behaviors = behav; this.backchannels = backs; } } private class PerformanceCallback implements Subscriber.Callback<BMLPerformance> { @Override public void call(BMLPerformance msg) { logger.debug(LoggerLevel.IO, "performing " + msg.behavior.id + ":" + msg.behavior.synchPoint); currentBehavior = msg.behavior; } } private class BCSubscriber implements Subscriber.Callback<HumanBackchannel> { @Override public void call(HumanBackchannel msg) { if (currentBehavior != null) { logger.debug(LoggerLevel.POLICY_EXECUTION, "Backchannel occurred " + msg.actor.id + " at " + currentBehavior.id + ":" + currentBehavior.synchPoint); BCOccurrence bco = new BCOccurrence(); bco.behavior = currentBehavior; bco.actor.id = msg.actor.id; bco.result.value = Flag.BEGIN; backchannels.add(bco); } else { logger.warn("Backchannels should only occur during bml execution, something is wrong"); } } } }

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engagement_generation
Author(s): Aaron Holroyd (aholroyd (at) wpi (dot) edu)
autogenerated on Fri Sep 9 10:35:40 2011