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/TurnPositionPolicy.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 ros.NodeHandle; import ros.Publisher; import ros.RosException; import ros.ServiceClient; import ros.pkg.engagement_msgs.msg.APAction; import ros.pkg.engagement_msgs.msg.ActorID; import ros.pkg.bml_msgs.msg.Entity; import ros.pkg.bml_msgs.msg.Flag; import ros.pkg.engagement_msgs.msg.Speech; import ros.pkg.engagement_srvs.srv.RobotAdjacencyPair; 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.SyncRef; import edu.wpi.hri.bml.behavior.SyncRef.SyncPoint; import edu.wpi.hri.gen.GenerationParams; import edu.wpi.hri.gen.comm.BMLEmitListener; import edu.wpi.hri.gen.ebml.EBMLList; import edu.wpi.hri.log.Logger; import edu.wpi.hri.log.Logger.Colors; import edu.wpi.hri.log.Logger.LoggerLevel; public class TurnPositionPolicy { private final Logger logger; private final BMLEmitListener emit; private APWaiter waiter; private final ServiceClient<RobotAdjacencyPair.Request, RobotAdjacencyPair.Response, RobotAdjacencyPair> apsrv; private final Publisher<Speech> bcpub; private final boolean full; public TurnPositionPolicy(NodeHandle handle, Logger logger, BMLEmitListener emit, boolean full) throws RosException { this.logger = logger.sub(Colors.POLICY, "TrnPos"); this.emit = emit; this.apsrv = handle.serviceClient( GenerationParams.ROBOT_AP_PATH.getString(), new RobotAdjacencyPair()); if (full) { this.bcpub = handle.advertise("performing/utterance", new Speech(), 10); } else { this.bcpub = null; } this.full = full; this.logger.debug(LoggerLevel.INIT, "Created ..."); } public void shutdown() { if (this.waiter != null) this.waiter.getResponse(); this.apsrv.shutdown(); } public APWaiter apply(EBMLList list, String position, String actor, boolean firstTurn, boolean delay, String delayTarget) throws Exception { logger.debug(LoggerLevel.POLICY_EXECUTION, "Applying ..."); // run which ever position, see class documentation if (position.equalsIgnoreCase("BEGINNING")) { this.execBeginning(firstTurn, actor); if (delay) this.execDelay(list, delayTarget); return null; } else if (position.equalsIgnoreCase("MIDDLE")) { if (delay) this.execDelay(list, delayTarget); return null; } else if (position.equalsIgnoreCase("END")) { if (delay) throw new Exception("Can not end and delay turn"); this.execEnd(list, actor); return this.waiter; } else if (position.equalsIgnoreCase("FULL")) { if (delay) throw new Exception("Can not full and delay turn"); this.execBeginning(firstTurn, actor); this.execEnd(list, actor); return this.waiter; } else if (position.equalsIgnoreCase("BACKCHANNEL")) { if (delay) throw new Exception("Can not backchannel and delay turn"); this.execBackchannel(list); return null; } else { throw new Exception("In valid turn position given"); } } private void execBeginning(boolean firstTurn, String actor) { if (firstTurn) this.waiter = new APWaiter(actor); } private void execEnd(EBMLList list, String actor) { if (full) { this.logger.debug(LoggerLevel.POLICY_EXECUTION, "executing end"); // create the behaviors first since they are independant GazeBehavior gazeBehav = new GazeBehavior(logger, "mfg-gaze", actor, false); EmitBehavior emitBehav = emit.createMFGEmit(actor, gazeBehav); // the robot must look at the participant at the end of a turn ConstraintBehavior constraint = list.getRequiredConstraints(); SyncBlock block = new SyncBlock(new SyncRef(list.getID(), SyncPoint.END, 0)); block.addRef(new SyncRef(gazeBehav, SyncPoint.START, 0)); block.addRef(new SyncRef(emitBehav, SyncPoint.START, 0)); constraint.addSynchronized(block); // then add the behaviors to the list to be executed list.getGazes().add(gazeBehav); list.getEmits().add(emitBehav); } } private void execBackchannel(EBMLList list) { if (full) { this.logger.debug(LoggerLevel.POLICY_EXECUTION, "executing BC"); Speech speech = new Speech(); speech.actor.id = ActorID.ROBOT; speech.begin.value = Flag.BACKCHANNEL; speech.response.value = Flag.FALSE; bcpub.publish(speech); } } private void execDelay(EBMLList list, String delayTarget) { if (full) { if (delayTarget == null || delayTarget.isEmpty()) delayTarget = Entity.UP_RIGHT; this.logger.debug(LoggerLevel.POLICY_EXECUTION, "executing delay"); GazeBehavior gaze = new GazeBehavior(logger, "delay-gaze", delayTarget, false); list.getGazes().add(gaze); } } public class APWaiter { private final Thread thread; private byte response; private APWaiter(final String actor) { this.response = APAction.NO_ACTION; this.thread = new Thread() { public void run() { // create the request RobotAdjacencyPair.Request req = new RobotAdjacencyPair.Request(); req.actor.id = actor; // then find the response try { RobotAdjacencyPair.Response res = apsrv.call(req); // determine what to return if (res.result.value == Flag.SUCCESS) { response = res.action.value; } else response = APAction.NO_ACTION; } catch (Exception e) { response = APAction.NO_ACTION; } }; }; this.thread.start(); } public byte getResponse() { logger.debug(LoggerLevel.POLICY_EXECUTION, "waiting for AP response"); try { if (this.thread.isAlive()) this.thread.join(); } catch (InterruptedException e) { } return this.response; } } }

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