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

engagement_recognition/src/recognition/recognizers/backchannel/backchannel_recognizer.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 "backchannel_recognizer.h" #include "../../events/event_factory.h" #include "../../lib/engagement_params.h" BackchannelRecognizer::BackchannelRecognizer() : Recognizer(BackchannelRecognizer::type(), NULL) { // Set the logger based on this type of recognizer this->setLogger(EngagementParams::getBCTag()); // Cast ourselves into a Recognizer Recognizer *recognizer = (Recognizer*)this; // Create the start state, and set the state to it recognizer->setStartState(); // Grab the recognition/human NodeHandle ros::NodeHandle *recog_human = EngagementParams::getRecogHumanHandle(); // Advertise the human initiated backchannel topic hi_backchannel_pub_ = recog_human->advertise<engagement_msgs::HumanBackchannel>( engagement::RECOG_BACKCHANNEL_TOPIC, MAX_BUFFER); this->warn("Initialized recognizer to an empty actor."); } BackchannelRecognizer::BackchannelRecognizer(std::string actor, EventSink *sink) : Recognizer(BackchannelRecognizer::type(), sink) { // Set the logger based on this type of recognizer this->setLogger(sink->getLogger(), EngagementParams::getBCTag()); // Set the actor for this recognizer // Do this BEFORE setting the state setActor(actor); // Grab the recognition/human NodeHandle ros::NodeHandle *recog_human = EngagementParams::getRecogHumanHandle(); // Advertise the human initiated backchannel topic hi_backchannel_pub_ = recog_human->advertise<engagement_msgs::HumanBackchannel>( engagement::RECOG_BACKCHANNEL_TOPIC, MAX_BUFFER); // Create the start state and set the state to it this->setStartState(); } void BackchannelRecognizer::initialize(initiator::Initiator initiator) { Recognizer *rec = (Recognizer*)this; // Initialize this recognizer with the initiator rec->initialize(initiator); } void BackchannelRecognizer::transition(Event event) { // Check the event cases if (EventFactory::isRobotInitiated(event)) { this->debug(8, "ROBOT INITIATED EVENT!"); // Initialize the connection event this->initialize(initiator::ROBOT); this->setState(factory::BC_ROBOT_FLOOR); } else if (EventFactory::isHumanInitiated(event)) { this->debug(8, "HUMAN INITIATED EVENT"); // Initialize the connection event this->initialize(initiator::HUMAN); this->setState(factory::BC_HUMAN_FLOOR); } else if (EventFactory::isSuccess(event)) { this->debug(8, "SUCCESS EVENT"); // Grab the internal node handle ros::NodeHandle *n = EngagementParams::getConfMFGazeHandle(); // Grab the max delay from the parameter server double max_delay = this->getMaxDelayParam(n, 2.0); // Only send human initiated events if the recognizer is not degraded if (!EngagementParams::isDegraded()) { // Create the human initiated mutual facial gaze message engagement_msgs::HumanBackchannel bc_msg; // Set the actor, the timeout duration, and the // human's utterance for this message bc_msg.actor.id = this->getActor()->getID(); bc_msg.timeout = max_delay; this->debug(5, "Publishing human initiated event."); // Publish the message this->hi_backchannel_pub_.publish(bc_msg); } // Complete the connection event successfully this->complete(true); } else if (EventFactory::isCycle(event)) { this->debug(8, "CYCLE EVENT"); // Transition to the start state this->setStartState(); } } std::string BackchannelRecognizer::type() { return engagement::BACKCHANNEL_TYPE; }

---

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