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

00001 /*
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00007  *  Redistribution and use in source and binary forms, with or without
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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.engagement_msgs.msg.HumanMutualFacialGaze;
00041 import edu.wpi.hri.gen.GenerationParams;
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 HIMFGPolicy extends GazeListener implements
00056                 Callback<HumanMutualFacialGaze> {
00057 
00058         private final Subscriber<HumanMutualFacialGaze> mfgsub;
00059         private final Logger logger;
00060 
00073         public HIMFGPolicy(NodeHandle handle, Logger logger, GazeKnowledge gaze,
00074                         GazeListener next) throws RosException {
00075                 super(next);
00076                 this.logger = logger.sub(Colors.POLICY, "HIMFG");
00077 
00078                 this.mfgsub = handle.subscribe(
00079                                 GenerationParams.HUMAN_MFG_PATH.getString(),
00080                                 new HumanMutualFacialGaze(), this, 100);
00081 
00082                 this.logger.debug(LoggerLevel.INIT, "Created ...");
00083         }
00084 
00089         public void shutdown() {
00090                 this.mfgsub.shutdown();
00091         }
00092 
00093         @Override
00094         public synchronized void call(final HumanMutualFacialGaze request) {
00095                 this.logger.debug(LoggerLevel.POLICY_EXECUTION, "responding to ["
00096                                 + request.actor.id + "]...");
00097                 setTarget(request.actor.id);
00098 
00099                 setTarget(null);
00100         }
00101 
00102         @Override
00103         public void gazeChanged(String target, boolean face, boolean lock) {
00104         }
00105 }