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

engagement_recognition/src/recognition/recognizers/adjacency_pair/ap_robot_waiting_state.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 "ap_robot_waiting_state.h" #include "../../events/event_factory.h" #include "../../lib/engagement_params.h" #include "../../objects/engagement_objects.h" APRobotWaitingState::APRobotWaitingState() : State(APRobotWaitingState::type(), "", NULL) { // Set the logger based on this type of recognizer this->setLogger(EngagementParams::getStateTag(APRobotWaitingState::type())); this->warn("Initialized with an invalid actor, " "robot and EventSink."); } APRobotWaitingState::APRobotWaitingState(std::string actor, EventSink *sink) : State(APRobotWaitingState::type(), actor, sink) { // Set the logger based on this type of recognizer this->setLogger(sink->getLogger(), EngagementParams::getStateTag(APRobotWaitingState::type())); } APRobotWaitingState::~APRobotWaitingState() { } Event APRobotWaitingState::received(std::string topic, engagement_msgs::ActorIDStatus *message) { if (topic == engagement::RECOGNITION_NAMESPACE + "/" + engagement::HUMAN_NAMESPACE + "/" + engagement::RECOG_STATUS_TOPIC.c_str()) return this->engageStatusCallback(message); return Event(); } Event APRobotWaitingState::received(std::string topic, engagement_msgs::Performance *message) { if (topic == engagement::VISION_NAMESPACE + "/" + engagement::PERFORMING_NOD_TOPIC) return this->visionNodCallback(message); else if (topic == engagement::VISION_NAMESPACE + "/" + engagement::PERFORMING_SHAKE_TOPIC) return this->visionShakeCallback(message); else if (topic == engagement::VISION_NAMESPACE + "/" + engagement::PERFORMING_EXTENDED_ACTION_TOPIC) return this->visionExtendedActionCallback(message); else if (topic == engagement::VISION_NAMESPACE + "/" + engagement::PERFORMING_POINT_TOPIC) return this->visionPointCallback(message); else if (topic == engagement::VISION_NAMESPACE + "/" + engagement::PERFORMING_LOOK_TOPIC) return this->visionLookCallback(message); return Event(); } Event APRobotWaitingState::received(std::string topic, engagement_msgs::Speech *message) { if (topic == engagement::PERFORMING_NAMESPACE + "/" + engagement::PERFORMING_UTTERANCE_TOPIC) return this->performingUtteranceCallback(message); return Event(); } Event APRobotWaitingState::engageStatusCallback(const engagement_msgs::ActorIDStatus *msg) { this->debug(25, "Entered %s %s %s", engagement::RECOGNITION_NAMESPACE.c_str(), engagement::HUMAN_NAMESPACE.c_str(), engagement::RECOG_STATUS_TOPIC.c_str()); // Make sure we have a valid message if (msg) { // Grab the message type from the constant pointer engagement_msgs::ActorIDStatus temp_msg = *msg; // Cast ourselves into a state State *state = (State*)this; // Grab the actor from the state Actor *actor = state->getActor(); // Make sure the actor in the message is the same // and that the message flag is FALSE (unengaged) if (actor != NULL && temp_msg.actor.id == actor->getID() && temp_msg.status.value == bml_msgs::Flag::FALSE) { // The actor for this recognizer has become unengaged // the connection event has failed. this->debug(7, "Received false %S message.", engagement::RECOG_STATUS_TOPIC.c_str()); // Create the failure event return EventFactory::failed(); } } return Event(); } Event APRobotWaitingState::performingUtteranceCallback(const engagement_msgs::Speech *msg) { this->debug(25, "Entered %s %s", engagement::PERFORMING_NAMESPACE.c_str(), engagement::PERFORMING_UTTERANCE_TOPIC.c_str()); // Make sure we have a valid message if (msg) { // Grab the message type from the constant pointer engagement_msgs::Speech temp_msg = *msg; // Cast ourselves into a state State *state = (State*)this; // Grab the actor from the state Actor *actor = state->getActor(); // If this message relates to this actor, and is beginning if (actor != NULL && temp_msg.actor.id == actor->getID() && temp_msg.begin.value == bml_msgs::Flag::BEGIN) { this->debug(7, "Received [%s] %s message.", temp_msg.actor.id.c_str(), engagement::PERFORMING_UTTERANCE_TOPIC.c_str()); // Add the speech action used to succeed the event to the additional data std::vector<std::string> additional = std::vector<std::string>(); additional.push_back(Action::SPEECH); additional.push_back("determine what the human said"); // Create the success event return EventFactory::success(additional); } else if (temp_msg.actor.id == temp_msg.actor.ROBOT && temp_msg.begin.value == bml_msgs::Flag::BEGIN) { this->debug(7, "Received ROBOT start %s message.", engagement::PERFORMING_UTTERANCE_TOPIC.c_str()); // Create the robot initiated event return EventFactory::robotInitiated(); } else if (temp_msg.actor.id == temp_msg.actor.ROBOT && temp_msg.begin.value == bml_msgs::Flag::END && temp_msg.response.value == bml_msgs::Flag::OPTIONAL_RESPONSE) { this->debug(7, "Received ROBOT end %s message.", engagement::PERFORMING_UTTERANCE_TOPIC.c_str()); // Create the failed event return EventFactory::failed(); } } return Event(); } Event APRobotWaitingState::visionShakeCallback(const engagement_msgs::Performance *msg) { this->debug(25, "Entered %s %s", engagement::VISION_NAMESPACE.c_str(), engagement::PERFORMING_SHAKE_TOPIC.c_str()); // Make sure we have a valid message if (msg) { // Grab the message type from the constant pointer engagement_msgs::Performance temp_msg = *msg; // Cast ourselves into a state State *state = (State*)this; // Grab the actor from the state Actor *actor = state->getActor(); // If this message relates to this actor, and is beginning if (actor != NULL && temp_msg.actor.id == actor->getID() && temp_msg.begin.value == bml_msgs::Flag::BEGIN) { this->debug(7, "Received %s %s message.", engagement::VISION_NAMESPACE.c_str(), engagement::PERFORMING_SHAKE_TOPIC.c_str()); // Add the shake action used to succeed the event to the additional data std::vector<std::string> additional = std::vector<std::string>(); additional.push_back(Action::SHAKE); // Create the complete event return EventFactory::completed(additional); } } return Event(); } Event APRobotWaitingState::visionNodCallback(const engagement_msgs::Performance *msg) { this->debug(25, "Entered %s %s", engagement::VISION_NAMESPACE.c_str(), engagement::PERFORMING_NOD_TOPIC.c_str()); // Make sure we have a valid message if (msg) { // Grab the message type from the constant pointer engagement_msgs::Performance temp_msg = *msg; // Cast ourselves into a state State *state = (State*)this; // Grab the actor from the state Actor *actor = state->getActor(); // If this message relates to this actor, and is beginning if (actor != NULL && temp_msg.actor.id == actor->getID() && temp_msg.begin.value == bml_msgs::Flag::BEGIN) { this->debug(7, "Received %s %s message.", engagement::VISION_NAMESPACE.c_str(), engagement::PERFORMING_NOD_TOPIC.c_str()); // Add the nod action used to succeed the event to the additional data std::vector<std::string> additional = std::vector<std::string>(); additional.push_back(Action::NOD); // Create the complete event return EventFactory::completed(additional); } } return Event(); } Event APRobotWaitingState::visionExtendedActionCallback(const engagement_msgs::Performance *msg) { this->debug(25, "Entered %s %s", engagement::VISION_NAMESPACE.c_str(), engagement::PERFORMING_EXTENDED_ACTION_TOPIC.c_str()); // Make sure we have a valid message if (msg) { // Grab the message type from the constant pointer engagement_msgs::Performance temp_msg = *msg; // Cast ourselves into a state State *state = (State*)this; // Grab the actor from the state Actor *actor = state->getActor(); // If this message relates to this actor, and is beginning if (actor != NULL && temp_msg.actor.id == actor->getID() && temp_msg.begin.value == bml_msgs::Flag::BEGIN) { this->debug(7, "Received %s %s message.", engagement::VISION_NAMESPACE.c_str(), engagement::PERFORMING_EXTENDED_ACTION_TOPIC.c_str()); // Add the extended action used to succeed the event std::vector<std::string> additional = std::vector<std::string>(); additional.push_back(Action::EXTENDED_ACTION); if (temp_msg.objects.size() > 0) additional.push_back(temp_msg.objects.at(0).id); // Create the complete event return EventFactory::completed(additional); } } return Event(); } Event APRobotWaitingState::visionPointCallback(const engagement_msgs::Performance *msg) { this->debug(25, "Entered %s %s", engagement::VISION_NAMESPACE.c_str(), engagement::PERFORMING_POINT_TOPIC.c_str()); // Make sure we have a valid message if (msg) { // Grab the message type from the constant pointer engagement_msgs::Performance temp_msg = *msg; // Cast ourselves into a state State *state = (State*)this; // Grab the actor from the state Actor *actor = state->getActor(); // If this message relates to this actor, and is beginning if (actor != NULL && temp_msg.actor.id == actor->getID() && temp_msg.begin.value == bml_msgs::Flag::BEGIN) { this->debug(7, "Received %s %s message.", engagement::VISION_NAMESPACE.c_str(), engagement::PERFORMING_POINT_TOPIC.c_str()); // Add the point action used to succeed the event to the additional data std::vector<std::string> additional = std::vector<std::string>(); additional.push_back(Action::POINT); if (temp_msg.objects.size() > 0) additional.push_back(temp_msg.objects.at(0).id); // Create the completed event return EventFactory::completed(additional); } } return Event(); } Event APRobotWaitingState::visionLookCallback(const engagement_msgs::Performance *msg) { this->debug(25, "Entered %s %s", engagement::VISION_NAMESPACE.c_str(), engagement::PERFORMING_LOOK_TOPIC.c_str()); // Make sure we have a valid message if (msg) { // Grab the message type from the constant pointer engagement_msgs::Performance temp_msg = *msg; // Cast ourselves into a state State *state = (State*)this; // Grab the actor from the state Actor *actor = state->getActor(); // If the message relates to this actor, and is beginning if (actor != NULL && temp_msg.actor.id == actor->getID() && temp_msg.begin.value == bml_msgs::Flag::BEGIN) { this->debug(7, "Received %s %s message.", engagement::VISION_NAMESPACE.c_str(), engagement::PERFORMING_LOOK_TOPIC.c_str()); // Add the look action used to succeed the event to the additional data std::vector<std::string> additional = std::vector<std::string>(); additional.push_back(Action::LOOK); if (temp_msg.objects.size() > 0) additional.push_back(temp_msg.objects.at(0).id); // Issue a completed event return EventFactory::completed(additional); } } return Event(); } std::string APRobotWaitingState::type() { return "ap_robot_waiting"; }

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