engagement_recognition: engagement_recognition/src/recognition/recognizers/backchannel/bc_start

00001 /*
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00034 // @author Brett Ponsler (bponsler (at) wpi (dot) edu)
00035 #include "bc_start_state.h"
00036 
00037 #include "../../events/event_factory.h"
00038 #include "../../lib/engagement_params.h"
00039 
00040 BCStartState::BCStartState() :
00041   State(BCStartState::type(), "", NULL)
00042 {
00043   // Set the logger based on this type of recognizer
00044   this->setLogger(EngagementParams::getStateTag(BCStartState::type()));
00045 
00046   this->warn("Initialized with an invalid actor, and EventSink.");
00047 }
00048 
00049 BCStartState::BCStartState(std::string actor, EventSink *sink) :
00050   State(BCStartState::type(), actor, sink)
00051 {
00052   // Set the logger based on this type of recognizer
00053   this->setLogger(sink->getLogger(),
00054                   EngagementParams::getStateTag(BCStartState::type()));
00055 
00056   if (actor == "")
00057     this->warn("Initialized with an invalid actor.");
00058 }
00059 
00060 BCStartState::~BCStartState()
00061 {
00062 }
00063 
00064 Event BCStartState::received(std::string topic, engagement_msgs::Speech *message)
00065 {
00066   if (topic == engagement::PERFORMING_NAMESPACE + "/" + engagement::PERFORMING_UTTERANCE_TOPIC)
00067     return this->performingUtteranceCallback(message);
00068 
00069   return Event();
00070 }
00071 
00072 Event BCStartState::performingUtteranceCallback(const engagement_msgs::Speech *msg)
00073 {
00074   this->debug(25, "Entered %s %s",
00075               engagement::PERFORMING_NAMESPACE.c_str(),
00076               engagement::PERFORMING_UTTERANCE_TOPIC.c_str());
00077 
00078   // Make sure we have a valid message
00079   if (msg)
00080   {
00081     // Grab the message type from the constant pointer
00082     engagement_msgs::Speech temp_msg = *msg;
00083 
00084     // Cast ourselves into a state
00085     State *state = (State*)this;
00086 
00087     // Grab the actor from the state
00088     Actor *actor = state->getActor();
00089 
00090     // If the robot is starting an utterance
00091     if (temp_msg.actor.id == temp_msg.actor.ROBOT &&
00092         temp_msg.begin.value == bml_msgs::Flag::BEGIN)
00093     {
00094       this->debug(7, "Received ROBOT start %s message.",
00095                   engagement::PERFORMING_UTTERANCE_TOPIC.c_str());
00096 
00097       // Create a Robot initiated event
00098       return EventFactory::robotInitiated();
00099     }
00100     else if (actor != NULL && temp_msg.actor.id == actor->getID() &&
00101         temp_msg.begin.value == bml_msgs::Flag::BEGIN)
00102     {
00103       this->debug(7, "Received [%s] start %s message.",
00104                actor->getID().c_str(),
00105                    engagement::PERFORMING_UTTERANCE_TOPIC.c_str());
00106 
00107       // Create a Human initiated event
00108       return EventFactory::humanInitiated();
00109     }
00110   }
00111 
00112   return Event();
00113 }
00114 
00115 std::string BCStartState::type()
00116 {
00117   return "bc_start";
00118 }
00119
engagement_recognition/src/recognition/recognizers/backchannel/bc_start_state.cpp
