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/ref/ReferencePolicy.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.ref; import java.util.HashSet; import java.util.List; import java.util.Set; import edu.wpi.hri.bml.behavior.ConstraintBehavior; import edu.wpi.hri.bml.behavior.ConstraintBehavior.SyncBlock; import edu.wpi.hri.bml.behavior.EmitBehavior; import edu.wpi.hri.bml.behavior.GazeBehavior; import edu.wpi.hri.bml.behavior.GestureBehavior; import edu.wpi.hri.bml.behavior.SpeechBehavior; import edu.wpi.hri.bml.behavior.SyncRef; import edu.wpi.hri.bml.behavior.SyncRef.SyncPoint; import edu.wpi.hri.gen.comm.BMLEmitListener; import edu.wpi.hri.gen.comm.GazeKnowledge; import edu.wpi.hri.gen.comm.SituationKnowledge; import edu.wpi.hri.gen.comm.SituationKnowledge.InvalidIDException; import edu.wpi.hri.gen.ebml.EBMLList; import edu.wpi.hri.gen.ebml.ReferenceBehavior; import edu.wpi.hri.gen.policy.ref.ReferenceOptions.UnreferencableException; import edu.wpi.hri.log.Logger; import edu.wpi.hri.log.Logger.Colors; import edu.wpi.hri.log.Logger.LoggerLevel; public class ReferencePolicy { protected final Logger logger; protected final BMLEmitListener emitListener; protected final NoPointZone noZone; public ReferencePolicy(Logger logger, BMLEmitListener emit, NoPointZone noZone) { this.logger = logger.sub(Colors.POLICY, "REF"); this.emitListener = emit; this.noZone = noZone; this.logger.debug(LoggerLevel.INIT, "Created ..."); } public boolean apply(EBMLList list, GazeKnowledge knowledge, SituationKnowledge world, String actor) { try { logger.debug(LoggerLevel.POLICY_EXECUTION, "Applying for entire list"); // create the data structures required to find the optimal series of // behaviors. ReferenceBehavior[] orderedRefs = this.findOrderedList(list); ReferenceOptions[] orderedOptions = new ReferenceOptions[orderedRefs.length]; // just return success on nothing to do if (orderedRefs.length == 0) return true; // create a reference option for each behavior, in the same order // this automatically filters out the unreliable options for (int c = 0; c < orderedRefs.length; c++) { orderedOptions[c] = new ReferenceOptions(logger, orderedRefs[c], world); } return this.applyOptions(list, knowledge, world, orderedOptions, actor); } catch (InvalidIDException e) { logger.error("Reference policy failed: " + e.getMessage()); return false; } } protected boolean applyOptions(EBMLList list, GazeKnowledge knowledge, SituationKnowledge world, ReferenceOptions[] orderedOptions, String actor) { logger.debug(LoggerLevel.POLICY_EXECUTION, "created options, finding best"); try { // then find the sequence of lowest cost actions this.findLowestCost(orderedOptions, world, new GestureState( knowledge, world)); logger.debug(LoggerLevel.POLICY_EXECUTION, "found best, adding to list"); // then add each group of actions to the list and constraints for (ReferenceOptions opt : orderedOptions) this.addToList(list, opt, world, actor); // once we're done, clear out the references list.getReferences().clear(); logger.debug(LoggerLevel.POLICY_EXECUTION, "finished applying all list"); } catch (UnreferencableException e) { logger.warn("unreferencable: " + e.getMessage()); return false; } return true; } protected ReferenceBehavior[] findOrderedList(EBMLList list) { return list.getReferences().toArray(new ReferenceBehavior[0]); } private void findLowestCost(ReferenceOptions[] options, SituationKnowledge situation, GestureState state) throws UnreferencableException { // make sure that we have options to begin with if (options.length > 0) { ReferenceOptions last = options[0]; for (int c = 1; c < options.length; c++) { last.setNextOption(options[c]); last = options[c]; } options[0].findBest(situation, state, noZone); } } private void addToList(EBMLList list, ReferenceOptions option, SituationKnowledge situation, String actor) throws UnreferencableException { // first create the behaviors which are required GazeBehavior gaze = option.createGaze(); GestureBehavior point = option.createPoint(situation); SpeechBehavior speech = option.createSpeech(); GazeBehavior finalGaze = (gaze == null) ? null : new GazeBehavior( logger, "gaze-actor-" + option.getBehavior().getID(), actor, option.getBehavior().isRequired()); EmitBehavior emit = option.createDG(actor, emitListener, gaze != null ? gaze : speech); logger.debug(LoggerLevel.POLICY_EXECUTION, "Created all behaviors"); // find the required and optional constraints to use ConstraintBehavior constraint = option.getBehavior().isRequired() ? list .getRequiredConstraints() : list.getOptionalConstraints(); // then add in the relative constraints since those are standard // constrain gaze:stroke_start -> point:start if (gaze != null && point != null) { SyncBlock block = new SyncBlock(new SyncRef(gaze, SyncPoint.STROKE_START, 0)); block.addRef(new SyncRef(point, SyncPoint.START, 0)); constraint.addSynchronized(block); } // constrain gaze:stroke -> point:ready if (gaze != null && point != null) { SyncBlock block = new SyncBlock(new SyncRef(gaze, SyncPoint.STROKE, 0)); block.addRef(new SyncRef(point, SyncPoint.READY, 0)); constraint.addSynchronized(block); } // constraint point:stroke_start -> speech:start if (point != null) { SyncBlock block = new SyncBlock(new SyncRef(point, SyncPoint.STROKE_START, 0)); block.addRef(new SyncRef(speech, SyncPoint.START, 0)); constraint.addSynchronized(block); } // otherwise constrain gaze:stroke -> speech:start else if (gaze != null) { SyncBlock block = new SyncBlock(new SyncRef(gaze, SyncPoint.STROKE, 0)); block.addRef(new SyncRef(speech, SyncPoint.START, 0)); constraint.addSynchronized(block); } // constrain point:stroke -> finalGaze:start if (gaze != null && point != null) { SyncBlock block = new SyncBlock(new SyncRef(point, SyncPoint.STROKE, 0)); block.addRef(new SyncRef(finalGaze, SyncPoint.START, 0)); constraint.addSynchronized(block); } // constrain speech:end -> finalGaze:stroke if (gaze != null) { SyncBlock block = new SyncBlock(new SyncRef(speech, SyncPoint.END, 0)); block.addRef(new SyncRef(finalGaze, SyncPoint.STROKE, 0)); constraint.addSynchronized(block); } // constrain (speech OR emit):end ->point:stroke_end if (point != null) { SyncBlock block = new SyncBlock(new SyncRef(option.isLast() ? emit : speech, SyncPoint.END, 0)); block.addRef(new SyncRef(point, SyncPoint.STROKE_END, 0)); constraint.addSynchronized(block); } logger.debug(LoggerLevel.POLICY_EXECUTION, "added in all known constraints"); // then deal with adding the other constraints from higher up SyncRef start = (gaze != null) ? new SyncRef(gaze, SyncPoint.START, 0) : new SyncRef(speech, SyncPoint.START, 0); SyncRef stroke = (point != null) ? new SyncRef(point, SyncPoint.STROKE_START, 0) : new SyncRef(speech, SyncPoint.START, 0); SyncRef end = (gaze != null) ? new SyncRef(finalGaze, SyncPoint.STROKE, 0) : new SyncRef(speech, SyncPoint.END, 0); this.dealWithAllConstraints(list, option, start, stroke, end); // then add the behaviors to their respective lists if (speech != null) list.getSpeeches().add(speech); if (gaze != null) { list.getGazes().add(gaze); list.getGazes().add(finalGaze); } if (point != null) list.getGestures().add(point); if (emit != null) list.getEmits().add(emit); logger.debug(LoggerLevel.POLICY_EXECUTION, "added in all incoming constraints"); } private void dealWithAllConstraints(EBMLList list, ReferenceOptions option, SyncRef start, SyncRef stroke, SyncRef end) throws UnreferencableException { // first we need to find the constraints which this reference is tied to String id = option.getBehavior().getID(); ConstraintBehavior reqCons = list.getRequiredConstraints(); Set<SyncBlock> required = this.findConstraints(reqCons, id); ConstraintBehavior optCons = list.getOptionalConstraints(); Set<SyncBlock> optional = this.findConstraints(optCons, id); logger.debug(LoggerLevel.POLICY_EXECUTION, "Found " + required.size() + " required blocks and " + optional.size() + " optional blocks"); if ((required.size() + optional.size()) == 0) logger.warn("Could not find constraints, you should add some"); // then for each constraint, ensure the reference id's are replaced // with the correct start, stroke, or end sync ref for (SyncBlock block : required) { fixBlock(block, id, start, stroke, end); } for (SyncBlock block : optional) { try { fixBlock(block, id, start, stroke, end); } catch (UnreferencableException e) { logger.warn("optional constraint ignored: " + e.getMessage()); } } } private void fixBlock(SyncBlock block, String id, SyncRef start, SyncRef stroke, SyncRef end) throws UnreferencableException { // first deal with the start ref if (block.getStartRef().getID().equals(id)) { // determine the sync ref to use in the constraint SyncRef blockStart = null; if (block.getStartRef().getPoint() == SyncPoint.START) blockStart = start; else if (block.getStartRef().getPoint() == SyncPoint.STROKE) blockStart = stroke; else if (block.getStartRef().getPoint() == SyncPoint.END) blockStart = end; else throw new UnreferencableException("Can not constrain"); block.setStartRef(blockStart); } // then all of the sub refs for (SyncRef ref : block.getRefs()) { if (ref.getID().equals(id)) { // determine the sync ref to use in the constraint SyncRef refStart = null; if (ref.getPoint() == SyncPoint.START) refStart = start; else if (ref.getPoint() == SyncPoint.STROKE) refStart = stroke; else if (ref.getPoint() == SyncPoint.END) refStart = end; else throw new UnreferencableException("Can not constrain"); block.removeRef(ref); block.addRef(refStart); return; } } } private Set<SyncBlock> findConstraints(ConstraintBehavior cb, String id) { logger.debug(LoggerLevel.POLICY_EXECUTION, "Finding constraints for " + id); Set<SyncBlock> allBlocks = new HashSet<SyncBlock>(); allBlocks.addAll(this.findFromList(cb.getBefore(), id)); allBlocks.addAll(this.findFromList(cb.getSynchronize(), id)); allBlocks.addAll(this.findFromList(cb.getAfter(), id)); return allBlocks; } private Set<SyncBlock> findFromList(List<SyncBlock> list, String id) { Set<SyncBlock> allBlocks = new HashSet<SyncBlock>(); logger.debug(LoggerLevel.ALL, "comparing " + list.size() + " constraints ..."); for (SyncBlock sb : list) { logger.debug(LoggerLevel.ALL, "Comparing start Constraint: [" + sb.getStartRef().getID() + "] to [" + id + "]"); if (sb.getStartRef().getID().equals(id)) allBlocks.add(sb); for (SyncRef ref : sb.getRefs()) { logger.debug(LoggerLevel.ALL, "Comparing ref Constraint: [" + ref.getID() + "] to [" + id + "]"); if (ref.getID().equals(id)) allBlocks.add(sb); } } return allBlocks; } }

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