engagement_generation: engagement_generation/src/edu/wpi/hri/gen/policy/DefaultGazePolicy.java Source File

00001 /*
00002  * Software License Agreement (BSD License)
00003  * 
00004  * Copyright (c) 2010, Worcester Polytechnic Institute All rights reserved.
00005  * 
00006  * Redistribution and use in source and binary forms, with or without
00007  * modification, are permitted provided that the following conditions are met:
00008  * 
00009  * * Redistributions of source code must retain the above copyright notice, this
00010  * list of conditions and the following disclaimer. * Redistributions in binary
00011  * form must reproduce the above copyright notice, this list of conditions and
00012  * the following disclaimer in the documentation and/or other materials provided
00013  * with the distribution. * Neither the name of Worcester Polytechnic Institute.
00014  * nor the names of its contributors may be used to endorse or promote products
00015  * derived from this software without specific prior written permission.
00016  * 
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  */
00029 package edu.wpi.hri.gen.policy;
00030 
00031 import ros.NodeHandle;
00032 import ros.RosException;
00033 import ros.Subscriber;
00034 import ros.pkg.engagement_msgs.msg.ActorIDStatus;
00035 import edu.wpi.hri.gen.comm.GazeKnowledge;
00036 import edu.wpi.hri.gen.comm.GazeListener;
00037 import edu.wpi.hri.log.Logger;
00038 import edu.wpi.hri.log.Logger.Colors;
00039 import edu.wpi.hri.log.Logger.LoggerLevel;
00040 
00049 public class DefaultGazePolicy extends GazeListener implements
00050                 Subscriber.Callback<ActorIDStatus> {
00051 
00052         private final Logger logger;
00053         private String faceTarget;
00054         private Subscriber<ActorIDStatus> hfacesub;
00055 
00070         public DefaultGazePolicy(Logger logger, NodeHandle handle,
00071                         GazeKnowledge gaze, GazeListener next) throws RosException {
00072                 super(next);
00073                 this.logger = logger.sub(Colors.POLICY, "DEF-GAZE");
00074                 gaze.addListener(this);
00075                 this.faceTarget = "";
00076 
00077                 this.hfacesub = handle.subscribe("vision/face", new ActorIDStatus(),
00078                                 this, 100);
00079 
00080                 this.logger.debug(LoggerLevel.INIT, "Created ...");
00081         }
00082 
00086         public void shutdown() {
00087                 this.hfacesub.shutdown();
00088         }
00089 
00090         @Override
00091         public void gazeChanged(String target, boolean face, boolean lock) {
00092                 if ((target == null) || (target.isEmpty())) {
00093                         this.logger.debug(LoggerLevel.POLICY_EXECUTION,
00094                                         "Defaulting to face tracking");
00095                         setTarget(faceTarget);
00096                 } else if (face && !this.faceTarget.equals(target)) {
00097                         this.logger.debug(LoggerLevel.IO, "It's a neeeew faaaace!!");
00098                         this.faceTarget = target;
00099                         setTarget(faceTarget);
00100                 }
00101         }
00102 
00103         @Override
00104         public void call(ActorIDStatus actor) {
00105                 if (!this.faceTarget.equals(actor.actor.id)) {
00106                         this.logger
00107                                         .debug(LoggerLevel.IO, "It's a neeeew (actor) faaaace!!");
00108                         setTarget(actor.actor.id);
00109                 }
00110         }
00111 }