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/Generation.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; import java.io.BufferedReader; import java.io.File; import java.io.InputStreamReader; import ros.NodeHandle; import ros.Ros; import ros.RosException; import edu.wpi.hri.bml.XMLInterface; import edu.wpi.hri.comm.MasterSpinner; import edu.wpi.hri.gen.comm.BMLEmitListener; import edu.wpi.hri.gen.comm.BMLRealizer; import edu.wpi.hri.gen.comm.GazeKnowledge; import edu.wpi.hri.gen.comm.SituationKnowledge; import edu.wpi.hri.gen.comm.TurnFragmentProvider; import edu.wpi.hri.gen.policy.DefaultGazePolicy; import edu.wpi.hri.gen.policy.GazeInterestPolicy; import edu.wpi.hri.gen.policy.GlancePolicy; import edu.wpi.hri.gen.policy.HIDGPolicy; import edu.wpi.hri.gen.policy.HIMFGPolicy; import edu.wpi.hri.gen.policy.TurnPositionPolicy; import edu.wpi.hri.gen.policy.ref.DegradedReferencePolicy; import edu.wpi.hri.gen.policy.ref.NoPointZone; import edu.wpi.hri.gen.policy.ref.ReferencePolicy; import edu.wpi.hri.log.Logger; import edu.wpi.hri.log.Logger.Colors; import edu.wpi.hri.log.Logger.LoggerLevel; public class Generation { // the basic stuff private final NodeHandle handle; private final Logger logger; private final XMLInterface xml; private final NoPointZone noZone; // the comm objects private final BMLEmitListener emit; private final BMLRealizer realizer; private final GazeKnowledge gaze; private final MasterSpinner spinner; private final TurnFragmentProvider turnFrags; private final SituationKnowledge situation; // then the policies private final DefaultGazePolicy defaultPolicy; private final GazeInterestPolicy interestPolicy; private final GlancePolicy glancePolicy; private final HIDGPolicy hidgPolicy; private final HIMFGPolicy himfgPolicy; private final ReferencePolicy refPolicy; private final TurnPositionPolicy turnPolicy; private Generation() throws RosException { setupParameters(); boolean full = GenerationParams.RUN_FULL.getBoolean(); handle = Ros.getInstance().createNodeHandle(); // create the logger by checking which to create LoggerLevel maxLevel = LoggerLevel.valueOf(GenerationParams.DEBUG_LEVEL .getString()); String type = GenerationParams.LOGGER_TYPE.getString(); logger = Logger.createBase(maxLevel, type, Colors.GENER, "GENER"); xml = createXML(logger); // now instantiate all of the the member variables emit = new BMLEmitListener(handle, logger); spinner = new MasterSpinner(logger, true); realizer = new BMLRealizer(handle, spinner, logger); gaze = new GazeKnowledge(handle, logger, xml, realizer); situation = new SituationKnowledge(logger, handle); noZone = new NoPointZone(logger, situation, gaze); noZone.addAllZones(handle); // then the policies if (full) { glancePolicy = new GlancePolicy(handle, logger, gaze, gaze); hidgPolicy = new HIDGPolicy(handle, logger, gaze, glancePolicy); himfgPolicy = new HIMFGPolicy(handle, logger, gaze, hidgPolicy); interestPolicy = new GazeInterestPolicy(handle, logger, gaze, himfgPolicy); defaultPolicy = new DefaultGazePolicy(logger, handle, gaze, interestPolicy); gaze.setBottomListener(defaultPolicy); refPolicy = new ReferencePolicy(logger, emit, noZone); } else { defaultPolicy = null; interestPolicy = null; glancePolicy = null; hidgPolicy = null; himfgPolicy = null; refPolicy = new DegradedReferencePolicy(logger, emit, noZone); } turnPolicy = new TurnPositionPolicy(handle, logger, emit, full); // then the objects which require policies turnFrags = new TurnFragmentProvider(handle, logger, realizer, xml, gaze, situation, emit, refPolicy, turnPolicy); // in form the outside world that generation is ready to go logger.debug(LoggerLevel.ALWAYS, "Generation started"); } public static XMLInterface createXML(Logger logger) { try { Process p = Runtime.getRuntime().exec( "rospack find engagement_generation"); p.waitFor(); BufferedReader stdInput = new BufferedReader(new InputStreamReader( p.getInputStream())); String egFolder = stdInput.readLine(); String file = egFolder + "/ebml.xsd"; return new XMLInterface(logger, new File(file)); } catch (Exception e) { } return null; } public static void setupParameters() { // logger stuff GenerationParams.DEBUG_LEVEL.setString(LoggerLevel.ALL.toString()); GenerationParams.LOGGER_TYPE.setString("SYSTEM"); // glance timing GenerationParams.GLANCE_DELAY_FACTOR.setDouble(2.0); GenerationParams.GLANCE_DURATION_MS.setInt(1000); GenerationParams.GLANCE_DELAY_MAX.setInt(5000); GenerationParams.GLANCE_DELAY_MIN.setInt(1000); // recognition paths GenerationParams.ROBOT_AP_PATH .setString("recognition/robot/adjacency_pair"); GenerationParams.ROBOT_DG_PATH .setString("recognition/robot/directed_gaze"); GenerationParams.ROBOT_MFG_PATH .setString("recognition/robot/mutual_facial_gaze"); GenerationParams.HUMAN_AP_PATH .setString("recognition/human/adjacency_pair"); GenerationParams.HUMAN_DG_PATH .setString("recognition/human/directed_gaze"); GenerationParams.HUMAN_MFG_PATH .setString("recognition/human/mutual_facial_gaze"); // bml paths GenerationParams.BML_EMIT_PATH.setString("bml/emit"); // reliability values GenerationParams.RELIABILITY_SPEECH.setDouble(0.6); GenerationParams.RELIABILITY_GAZE.setDouble(0.1); GenerationParams.RELIABILITY_DIRECTED_GAZE.setDouble(0.2); GenerationParams.RELIABILITY_DIRECTED_GAZE_POINTING.setDouble(0.3); // then situation specific GenerationParams.ROBOT_SHOULDER_LENGTH.setDouble(20.0); GenerationParams.ROBOT_SHOULDER_HEIGHT.setDouble(85.0); GenerationParams.ROBOT_ARM_LENGTH.setDouble(56.0); GenerationParams.ROBOT_HEAD_HEIGHT.setDouble(90.0); // then constants for factors GenerationParams.CONSTANT_GAZE_COST_FACTOR.setDouble(0.01); GenerationParams.CONSTANT_POINT_COST_FACTOR.setDouble(0.001); GenerationParams.CONSTANT_GAZE_DISTRACTOR_DISTANCE.setDouble(750.0); GenerationParams.CONSTANT_POINT_DISTRACTOR_DISTANCE.setDouble(350.0); // by default run the full generation node GenerationParams.RUN_FULL.setBoolean(true); } private void run() { spinner.joinOldMasters(); } private void shutdown() { // the comm shutdowns realizer.shutdown(); gaze.shutdown(); turnFrags.shutdown(); situation.shutdown(); // then the policy shutdowns if (GenerationParams.RUN_FULL.getBoolean()) { emit.shutdown(); defaultPolicy.shutdown(); interestPolicy.shutdown(); glancePolicy.shutdown(); hidgPolicy.shutdown(); himfgPolicy.shutdown(); } // then the handle itself handle.shutdown(); } public static void main(String[] args) throws RosException { Ros.getInstance().init("generation", false, false, false, args); Generation generation = new Generation(); generation.run(); generation.shutdown(); } }

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