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

00001 /*
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00004  *  Copyright (c) 2010, Worcester Polytechnic Institute
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00007  *  Redistribution and use in source and binary forms, with or without
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00013  *   * Redistributions in binary form must reproduce the above
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00034 package edu.wpi.hri.gen.policy;
00035 
00036 import ros.NodeHandle;
00037 import ros.RosException;
00038 import ros.Subscriber;
00039 import ros.Subscriber.Callback;
00040 import ros.pkg.bml_msgs.msg.Flag;
00041 import ros.pkg.engagement_msgs.msg.Performance;
00042 import edu.wpi.hri.gen.comm.GazeKnowledge;
00043 import edu.wpi.hri.gen.comm.GazeListener;
00044 import edu.wpi.hri.log.Logger;
00045 import edu.wpi.hri.log.Logger.Colors;
00046 import edu.wpi.hri.log.Logger.LoggerLevel;
00047 
00055 public class GazeInterestPolicy extends GazeListener implements
00056                 Callback<Performance> {
00057 
00058         private final Logger logger;
00059         private final Subscriber<Performance> actSub;
00060 
00075         public GazeInterestPolicy(NodeHandle handle, Logger logger,
00076                         GazeKnowledge gaze, GazeListener next) throws RosException {
00077                 super(next);
00078                 this.logger = logger.sub(Colors.POLICY, "INTEREST");
00079                 this.actSub = handle.subscribe("performing/extended_action",
00080                                 new Performance(), this, 100);
00081 
00082                 this.logger.debug(LoggerLevel.INIT, "Created ...");
00083         }
00084 
00088         public void shutdown() {
00089                 actSub.shutdown();
00090         }
00091 
00092         @Override
00093         public void call(Performance perf) {
00094                 if (perf.begin.value == Flag.START) {
00095                         this.logger.debug(LoggerLevel.POLICY_EXECUTION, "executing ...");
00096                         if (perf.objects.size() > 0)
00097                           setTarget(perf.objects.get(0).id);
00098                 } else if (perf.begin.value == Flag.END)
00099                         setTarget(null);
00100         }
00101 
00102         @Override
00103         public void gazeChanged(String target, boolean face, boolean lock) {
00104         }
00105 }