Project: engagement_recognition License: BSD Dependencies: engagement_msgs engagement_srvs roscpp Used by: None All Packages

engagement_recognition/src/recognition/actors/actor.cpp 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. */ // @author Brett Ponsler (bponsler (at) wpi (dot) edu) #include "actor.h" // Include ROS and the objects file #include <ros/ros.h> #include "../objects/engagement_objects.h" #include "../lib/engagement_params.h" Actor::~Actor() { // Delete the statistics delete this->statistics_; // Delete this actor's handler if (this->handler_) delete this->handler_; // Delete all the semaphores delete this->semaphore_; } Actor::Actor() { // Create the prefix for the logger std::string prefix = std::string(EngagementParams::getRecogTag()) + std::string(EngagementParams::getActorTag(engagement::ACTOR_TYPE)); // Create the logger for the actor off of the RNode logger this->setLogger(prefix); this->createSemaphores(); this->id_ = std::string(""); this->engaged_ = false; this->facial_gaze_ = false; // true; this->speaking_ = false; this->looking_ = std::vector<std::string>(); this->pointing_ = std::vector<std::string>(); this->handler_ = NULL; // Set up the timeline this->statistics_ = new Timeline(); } Actor::Actor(std::string id) { // Create the prefix for the logger std::string prefix = std::string(EngagementParams::getRecogTag()) + std::string(EngagementParams::getActorTag(id)); // Create the logger for the actor off of the RNode logger this->setLogger(prefix); this->createSemaphores(); this->id_ = std::string(id); this->engaged_ = false; this->facial_gaze_ = false; // true; this->speaking_ = false; this->looking_ = std::vector<std::string>(); this->pointing_ = std::vector<std::string>(); this->handler_ = NULL; // Set up the timeline this->statistics_ = new Timeline(); } void Actor::createSemaphores() { this->semaphore_ = new Semaphore(1); } void Actor::updateDirGazeRecognizers(std::vector<std::string> objects) { // Traverse all the objects, and update the handler with each // of the objects for (unsigned c = 0; c < objects.size(); c++) this->handler_->updateDirectedGazeRecognizer(objects.at(c)); } void Actor::received(std::string topic, ros::Message *message) { this->handler_->received(topic, message); } ServiceResponse Actor::dirGazeService(ros::Message *message, std::vector<std::string> objects) { return this->handler_->dirGazeService(message, objects); } ServiceResponse Actor::mfGazeService(ros::Message *message) { return this->handler_->mfGazeService(message); } APServiceResponse Actor::adjPairService(ros::Message *message) { return this->handler_->adjPairService(message); } void Actor::setHandler(Handler *handler) { // Free the current copy before changing it if (this->handler_) delete this->handler_; // Use the new handler this->handler_ = handler; } Handler *Actor::getHandler() { return this->handler_; } void Actor::setEngaged(bool engaged) { this->semaphore_->wait(); this->engaged_ = engaged; this->semaphore_->post(); } bool Actor::getEngaged() { this->semaphore_->wait(); bool temp = this->engaged_; this->semaphore_->post(); return temp; } std::string Actor::getID() { // Return the Actor's id return this->id_; } bool Actor::isFacialGaze() { this->semaphore_->wait(); bool temp = this->facial_gaze_; this->semaphore_->post(); // Return if the actor is making facial gaze return temp; } bool Actor::isSpeaking() { this->semaphore_->wait(); bool temp = this->speaking_; this->semaphore_->post(); // Return if the actor is making facial gaze return temp; } bool Actor::isLooking(std::vector<std::string> objects) { this->semaphore_->wait(); std::vector<std::string> temp = this->looking_; this->semaphore_->post(); // Return if the set of objects are identical return objects::same(temp, objects); } bool Actor::isPointing(std::vector<std::string> objects) { this->semaphore_->wait(); std::vector<std::string> temp = this->pointing_; this->semaphore_->post(); // return if the set of objects are identical return objects::same(temp, objects); } std::vector<std::string> Actor::getLooking() { this->semaphore_->wait(); std::vector<std::string> temp = this->looking_; this->semaphore_->post(); // Return the vector of objects being looked at return temp; } std::vector<std::string> Actor::getPointing() { this->semaphore_->wait(); std::vector<std::string> temp = this->pointing_; this->semaphore_->post(); // Return the vector of object being pointed at return temp; } bool Actor::setFacialGaze(bool start) { this->semaphore_->wait(); bool temp = this->facial_gaze_; this->semaphore_->post(); // Make sure the facial gaze is not currently in the same state if (temp != start) { // Update the Actor's facial gaze flag this->semaphore_->wait(); this->facial_gaze_ = start; this->semaphore_->post(); this->debug(9, "Updated actor [%s]'s facial gaze [%s].", this->id_.c_str(), (start ? "true" : "false")); return true; } this->warn("Actor [%s]'s already in [%s] facial gaze state.", this->id_.c_str(), (this->facial_gaze_ ? "true" : "false")); return false; } bool Actor::setSpeaking(bool start) { this->semaphore_->wait(); bool temp = this->speaking_; this->semaphore_->post(); // Make sure the speaking is not trying to move to the same state // if speaking cannot start, if not speaking cannot end if (temp != start) { // Update the Actor's speaking flag this->semaphore_->wait(); this->speaking_ = start; this->semaphore_->post(); this->debug(9, "Updated actor [%s]'s speaking.", this->id_.c_str()); return true; } this->warn("Actor [%s]'s already in [%s] speaking state.", this->id_.c_str(), (start ? "start" : "stop")); return false; } bool Actor::setLooking(std::vector<std::string> objects, bool start) { // Determine if looking is starting or ending if (start) { this->semaphore_->wait(); std::vector<std::string> temp = this->looking_; this->semaphore_->post(); // We're adding the objects, so ensure that they do // not already exist (intersection should be the null set) if (!objects::intersect(temp, objects)) { // The objects do not exist yet, add them // Loop through the new objects vector for (unsigned i = 0; i < objects.size(); i++) { // Push the new object onto the back of the vector temp.push_back(objects.at(i)); this->debug(9, "Actor [%s] looking at '%s'", this->id_.c_str(), objects.at(i).c_str()); } this->semaphore_->wait(); this->looking_ = temp; this->semaphore_->post(); return true; } } else { this->semaphore_->wait(); std::vector<std::string> temp = this->looking_; this->semaphore_->post(); // We're removing the objects, so ensure that they exist (contains is true) if (objects::contains(temp, objects)) { // Remove the objects from the looking vector // Loop through the objects vector for (unsigned i = 0; i < objects.size(); i++) { // Loop through the looking vector for (unsigned j = 0; j < temp.size(); j++) { // Compare the two objects if (objects.at(i) == temp.at(j)) { // Remove the object from the first vector temp.erase(temp.begin() + j); this->debug(9, "Actor [%s] stopped looking at '%s'.", this->id_.c_str(), objects.at(i).c_str()); break; } } } this->semaphore_->wait(); this->looking_ = temp; this->semaphore_->post(); return true; } } this->warn("Actor [%s] %s looking at these objects.", this->id_.c_str(), (start ? "is already" : "is already not")); return false; } bool Actor::setPointing(std::vector<std::string> objects, bool start) { // Determine if pointing is starting or ending if (start) { this->semaphore_->wait(); std::vector<std::string> temp = this->pointing_; this->semaphore_->post(); // We're adding the objects, so ensure that they do // not already exist (intersection should be the null set) if (!objects::intersect(temp, objects)) { // The objects do not exist yet, add them // Loop through the new objects vector for (unsigned i = 0; i < objects.size(); i++) { // Push the new object onto the back of the vector temp.push_back(objects.at(i)); this->debug(9, "Actor [%s] pointing at '%s'", this->id_.c_str(), objects.at(i).c_str()); } this->semaphore_->wait(); this->pointing_ = temp; this->semaphore_->post(); return true; } } else { this->semaphore_->wait(); std::vector<std::string> temp = this->pointing_; this->semaphore_->post(); // We're removing the objects, so ensure that they exist (contains is true) if (objects::contains(temp, objects)) { // Remove the objects from the pointing vector // Loop through the objects vector for (unsigned i = 0; i < objects.size(); i++) { // Loop through the pointing vector for (unsigned j = 0; j < temp.size(); j++) { // Compare the two objects if (objects.at(i) == temp.at(j)) { // Remove the object from the first vector temp.erase(temp.begin() + j); this->debug(9, "Actor [%s] stopped pointing at '%s'.", this->id_.c_str(), objects.at(i).c_str()); break; } } } this->semaphore_->wait(); this->pointing_ = temp; this->semaphore_->post(); return true; } } this->warn("Actor [%s] %s pointing at these objects.", this->id_.c_str(), (start ? "is already" : "is already not")); return false; } void Actor::addEvent(std::string type, bool success, unsigned long start, unsigned long delay, unsigned long duration, std::string data) { // Add the event to the statistics this->statistics_->addEvent(type, success, start, delay, duration, data); } std::vector<unsigned long> Actor::getStatistics() { this->semaphore_->wait(); // Grab the overall mean and max TBCE unsigned long mean_tbce = this->statistics_->getMeanTBCE(); unsigned long max_tbce = this->statistics_->getMaxTBCE(); // Grab the recent mean and max TBCE unsigned long recent_mean_tbce = this->statistics_->getRecentMeanTBCE(); unsigned long recent_max_tbce = this->statistics_->getRecentMaxTBCE(); // Grab the overall mean and max delay unsigned long mean_delay = this->statistics_->getMeanDelay(); unsigned long max_delay = this->statistics_->getMaxDelay(); // Grab the overall mean and max duration unsigned long mean_duration = this->statistics_->getMeanDuration(); unsigned long max_duration = this->statistics_->getMaxDuration(); // Grab the recent mean and max delay unsigned long recent_mean_delay = this->statistics_->getRecentMeanDelay(); unsigned long recent_max_delay = this->statistics_->getRecentMaxDelay(); // Grab the overall and recent event failure rate unsigned long failure_rate = this->statistics_->getFailureRate(); unsigned long recent_failure_rate = this->statistics_->getRecentFailureRate(); // Grab the recent mean and max duration unsigned long recent_mean_duration = this->statistics_->getRecentMeanDuration(); unsigned long recent_max_duration = this->statistics_->getRecentMaxDuration(); this->semaphore_->post(); // Store the statistics into a vector std::vector<unsigned long> stats; stats.push_back(mean_tbce); stats.push_back(max_tbce); stats.push_back(mean_delay); stats.push_back(max_delay); stats.push_back(mean_duration); stats.push_back(max_duration); stats.push_back(failure_rate); stats.push_back(recent_mean_tbce); stats.push_back(recent_max_tbce); stats.push_back(recent_mean_delay); stats.push_back(recent_max_delay); stats.push_back(recent_mean_duration); stats.push_back(recent_max_duration); stats.push_back(recent_failure_rate); // Return the vector of statistics return stats; }

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engagement_recognition
Author(s): Brett Ponsler (bponsler (at) wpi (dot) edu)
autogenerated on Fri Sep 9 10:35:48 2011