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/TurnFragmentProvider.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.io.StringReader; import org.w3c.dom.Document; import org.w3c.dom.Element; import ros.NodeHandle; import ros.RosException; import ros.ServiceServer; import ros.ServiceServer.Callback; import ros.pkg.engagement_msgs.msg.APAction; import ros.pkg.engagement_msgs.msg.BCOccurrence; import ros.pkg.bml_msgs.msg.BehaviorResult; import ros.pkg.bml_msgs.msg.Flag; import ros.pkg.engagement_srvs.srv.TurnFragment; import ros.pkg.engagement_srvs.srv.TurnFragment.Request; import ros.pkg.engagement_srvs.srv.TurnFragment.Response; import edu.wpi.hri.bml.XMLInterface; import edu.wpi.hri.gen.GenerationParams; import edu.wpi.hri.gen.ebml.EBMLList; import edu.wpi.hri.gen.policy.TurnPositionPolicy; import edu.wpi.hri.gen.policy.TurnPositionPolicy.APWaiter; 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 TurnFragmentProvider implements Callback<Request, Response> { private final Logger logger; private final BMLRealizer realizer; private final XMLInterface xml; private final ReferencePolicy refPolicy; private final TurnPositionPolicy turnPolicy; private final GazeKnowledge knowledge; private final SituationKnowledge world; private final BMLEmitListener emit; private final ServiceServer<TurnFragment.Request, TurnFragment.Response, TurnFragment> turnSrv; public TurnFragmentProvider(NodeHandle handle, Logger logger, BMLRealizer realizer, XMLInterface xml, GazeKnowledge knowledge, SituationKnowledge world, BMLEmitListener emit, ReferencePolicy ref, TurnPositionPolicy turn) throws RosException { this.logger = logger.sub(Colors.EXEC_TURN_FRAG, "ETF"); this.realizer = realizer; this.xml = xml; this.refPolicy = ref; this.turnPolicy = turn; this.knowledge = knowledge; this.world = world; this.emit = emit; // create the service (the reason for the handle this.turnSrv = handle.advertiseService("generation/turn_fragment", new TurnFragment(), this); } public void shutdown() { this.turnSrv.shutdown(); } @Override public Response call(Request request) { // create the response object, and let users know what is going on Response res = new Response(); res.result.value = Flag.INVALID; res.response.value = APAction.NO_ACTION; res.behaviors = new ArrayList<BehaviorResult>(); res.backchannels = new ArrayList<BCOccurrence>(); logger.info("Starting Turn Fragment ..."); logger.debug(LoggerLevel.IO, "Received Request: " + request.fragment); // then craete the tree of nodes from the string Document doc = xml.loadDocument(new StringReader(request.fragment)); Element root = (Element) doc.getFirstChild(); // then create the list and temporary variables EBMLList list = EBMLList.parseEBML(logger, xml, request.fragment); String actor = root.getAttribute("actor"); String turnPos = root.getAttribute("turnPosition"); boolean firstTurn = Boolean .parseBoolean(root.getAttribute("firstTurn")); boolean isDelay = Boolean.parseBoolean(root.getAttribute("isDelay")); String delayTarget = root.hasAttribute("delayTarget") ? root .getAttribute("delayTarget") : ""; // if we have invlide data, just return the invalid if (list == null || actor == null || actor.isEmpty()) return res; // then apply the policy for executing the turn position APWaiter waiter = null; try { if (GenerationParams.RUN_FULL.getBoolean()) { waiter = this.turnPolicy.apply(list, turnPos, actor, firstTurn, isDelay, delayTarget); } } catch (Exception e) { logger.warn("failed turn position"); return res; } logger.debug(LoggerLevel.POLICY_EXECUTION, "finsihed turn position"); // then apply all of the policies required for a turn fragment if (!(this.refPolicy.apply(list, knowledge, world, actor))) { logger.warn("failed references"); return res; } logger.debug(LoggerLevel.POLICY_EXECUTION, "finished references"); logger.debug(LoggerLevel.IO, "Sending bml now ..."); // then call the BML realizer to do the behaviors BMLRealizer.Result result = realizer.sendBML(list); // then pull out the actions which occurred during realization to return res.result.value = result.success; res.behaviors = result.behaviors; res.backchannels = result.backchannels; // also ensure that we wait for the end of each connection event emit.waitForEnd(); // an AP may have been started and needs to be returned res.response.value = (waiter != null) ? waiter.getResponse() : APAction.NO_ACTION; logger.debug(LoggerLevel.IO, "Realization returned " + res.result.value); logger.debug(LoggerLevel.IO, "AP returned " + res.response.value); return res; } }

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