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/policy/GlancePolicy.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.policy; import java.util.Timer; import java.util.TimerTask; import ros.NodeHandle; import ros.RosException; import ros.ServiceClient; import ros.pkg.engagement_srvs.srv.ActorStatistics; import edu.wpi.hri.gen.GenerationParams; import edu.wpi.hri.gen.comm.GazeKnowledge; import edu.wpi.hri.gen.comm.GazeListener; import edu.wpi.hri.log.Logger; import edu.wpi.hri.log.Logger.Colors; import edu.wpi.hri.log.Logger.LoggerLevel; public class GlancePolicy extends GazeListener { private final Logger logger; private Timer timer; private String lastFace; private boolean lastGazeWasFace; private final ServiceClient<ActorStatistics.Request, ActorStatistics.Response, ActorStatistics> statsSrv; public GlancePolicy(NodeHandle handle, Logger logger, GazeKnowledge gaze, GazeListener next) { super(next); this.logger = logger.sub(Colors.POLICY, "GLANCE"); this.lastFace = ""; this.lastGazeWasFace = false; this.statsSrv = handle.serviceClient("recognition/statistics", new ActorStatistics()); gaze.addListener(this); this.logger.debug(LoggerLevel.INIT, "Created ..."); } private TimerTask createTask() { return new TimerTask() { @Override public void run() { applyGlance(); } }; } public void shutdown() { if (this.timer != null) { this.timer.cancel(); this.timer = null; } this.statsSrv.shutdown(); } private void applyGlance() { this.logger.debug(LoggerLevel.POLICY_EXECUTION, "executing glance"); if (setTarget(this.lastFace)) { try { Thread.sleep(GenerationParams.GLANCE_DURATION_MS.getInt()); } catch (InterruptedException e) { this.logger.debug(LoggerLevel.ALL, "sleep error: " + e.getMessage()); } setTarget(null); } } @Override public void gazeChanged(String target, boolean face, boolean lock) { if (face) { // since we have a face, cancel the timer so that the glance doesn't // occur this.logger.debug(LoggerLevel.IO, "received gaze to face"); this.lastFace = target; if (this.timer != null) { this.timer.cancel(); this.timer = null; } } else if (lastGazeWasFace) { // OOOOO we started looking at something else, cancel the timer if // it exists and start a new one to look back at the face this.logger.debug(LoggerLevel.IO, "received gaze away from face"); this.timer = new Timer(); int mtbce = this.findMTBCE(); double factor = GenerationParams.GLANCE_DELAY_FACTOR.getDouble(); long glance = (long) (factor * mtbce); this.logger.debug(LoggerLevel.MATH, "MTBCE: [" + mtbce + "] and factor [" + factor + "] becomes glance [" + glance + "]"); if (glance < 0) { logger.error("Glance time should not be negative"); glance = -glance; } glance = Math.max(GenerationParams.GLANCE_DELAY_MIN.getInt(), Math .min(GenerationParams.GLANCE_DELAY_MAX.getInt(), glance)); this.logger.debug(LoggerLevel.MATH, "Limited glance to [" + glance + "]"); this.timer.schedule(this.createTask(), glance); } this.lastGazeWasFace = face; } private int findMTBCE() { try { ActorStatistics.Request req = new ActorStatistics.Request(); req.actor.id = this.lastFace; ActorStatistics.Response res = this.statsSrv.call(req); return res.recent_mean_tbce; } catch (RosException e) { this.logger .warn("Failed to retrieve MTBCE, is recognition running?"); this.logger.printThrowable(LoggerLevel.ALL, e); return 0; } } }

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