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/GazeKnowledge.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.Publisher; import ros.RosException; import ros.Subscriber; import ros.pkg.engagement_msgs.msg.ActorID; import ros.pkg.bml_msgs.msg.Entity; import ros.pkg.bml_msgs.msg.Flag; import ros.pkg.engagement_msgs.msg.Performance; import edu.wpi.hri.bml.XMLInterface; import edu.wpi.hri.bml.behavior.GazeBehavior; 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 GazeKnowledge extends GazeListener implements ros.Subscriber.Callback<Performance> { private final Subscriber<Flag> gazeLockSub; private final Subscriber<Performance> lookSub; private final Publisher<Entity> triedPub; private final Logger logger; private String target; private boolean locked; private final List<GazeListener> listeners; private GazeListener bottomListener; private final XMLInterface xml; private final BMLRealizer realizer; public GazeKnowledge(NodeHandle handle, Logger logger, XMLInterface xml, BMLRealizer realizer) throws RosException { super(null); this.logger = logger.sub(Colors.GAZE_KNOWLEDGE, "GAZE"); this.target = "DOWN_FRONT"; this.locked = false; this.listeners = new ArrayList<GazeListener>(); this.xml = xml; this.realizer = realizer; this.gazeLockSub = handle.subscribe("generation/lock_gaze", new Flag(), new LockListener(), 100); this.lookSub = handle.subscribe("performing/look", new Performance(), this, 100); this.triedPub = handle.advertise("generation/tried_gaze", new Entity(), 100); this.logger.debug(LoggerLevel.INIT, "setup ..."); } public void shutdown() { this.gazeLockSub.shutdown(); this.lookSub.shutdown(); this.triedPub.shutdown(); } public String getTarget() { return target; } public boolean isLocked() { return locked; } public void setBottomListener(GazeListener gl) { this.bottomListener = gl; } public synchronized void addListener(GazeListener gl) { this.listeners.add(gl); } @Override public boolean trySetGaze(String target) { if (!this.locked) { if (this.bottomListener != null && (target == null || target.isEmpty())) return bottomListener.trySetGaze(null); this.logger.debug(LoggerLevel.IO, "Setting gaze to " + target); EBMLList list = new EBMLList(logger, xml, "set-gaze-bml"); list.getGazes().add( new GazeBehavior(logger, "set-gaze", target, true)); this.target = target; return (this.realizer.sendBML(list).success == Flag.SUCCESS); } else { this.logger.debug(LoggerLevel.IO, "Publishing locked gaze: " + target); // send a message saying we need to look at something we didn't Entity ent = new Entity(); ent.id = target; ent.type = Entity.UNKNOWN; triedPub.publish(ent); return false; } } @Override public synchronized void gazeChanged(String target, boolean face, boolean lock) { logger.debug(LoggerLevel.ALL, "Informing Listeners of [" + target + "]"); for (GazeListener gl : this.listeners) gl.gazeChanged(target, face, lock); } @Override public void call(Performance perf) { // if the robot is beginning to look at something, store it and inform // the rest of generation if ((perf.actor.id.equals(ActorID.ROBOT)) && (perf.begin.value == Flag.BEGIN)) { if (perf.objects.size() > 0) { String newTarget = perf.objects.get(0).id; // ensure that we don't already know that we are looking at this // object if (this.target == null || !this.target.equals(newTarget)) { logger.debug(LoggerLevel.ALWAYS, "Robot began looking at " + newTarget); boolean face = perf.objects.get(0).type == Entity.FACE; this.target = newTarget; this.gazeChanged(this.target, face, this.locked); } } } } private class LockListener implements Subscriber.Callback<Flag> { @Override public void call(Flag flag) { locked = (flag.value == Flag.TRUE); } } }

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