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

engagement_recognition/src/recognition/handlers/engagement_handler.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 "engagement_handler.h" // Include the boost thread library #include <boost/thread.hpp> // Include the recognizer factory #include "../recognizers/recognizer_factory.h" EngagementHandler::EngagementHandler() : Handler() { // Cast ourselves into an EventSink EventSink *sink = (EventSink*)this; Recognizer *mfg = RecognizerFactory::createMutualFacialGazeRecognizer(NULL, sink); Recognizer *ap = RecognizerFactory::createAdjacencyPairRecognizer(NULL, sink); Recognizer *bc = RecognizerFactory::createBackchannelRecognizer(NULL, sink); // Add the three concrete recognizers to the vector this->setMutualFacialGazeRecognizer(mfg); this->setAdjacencyPairRecognizer(ap); this->setBackchannelRecognizer(bc); } EngagementHandler::EngagementHandler(std::string actor, EventSink *parent) : Handler(actor, parent) { // Cast ourselves into an EventSink EventSink *sink = (EventSink*)this; // Create the three concrete recognizers // Use the given actor for each of the Recognizers Recognizer *mfg = RecognizerFactory::createMutualFacialGazeRecognizer(actor, sink); Recognizer *ap = RecognizerFactory::createAdjacencyPairRecognizer(actor, sink); Recognizer *bc = RecognizerFactory::createBackchannelRecognizer(actor, sink); // Add the three concrete recognizers to the vector this->setMutualFacialGazeRecognizer(mfg); this->setAdjacencyPairRecognizer(ap); this->setBackchannelRecognizer(bc); } void EngagementHandler::castEvent(Event event) { // Add the event to the actor's timeline, before casting it up this->addEvent(event); // Cast the event up the parent chain if (this->parent_ != NULL) this->parent_->castEvent(event); } bool EngagementHandler::compareAdditional(std::vector<std::string> additional, std::string compare) { // There is no need to compare additional information for this handler return false; } void EngagementHandler::updateDirectedGazeRecognizer(std::string object) { // Try to find the directed gaze recognizer associated with this object Recognizer *dg = this->getDirectedGazeRecognizer(object); // If no recognizer exists, we need to create one if (dg == NULL) { // Create the new recognizer Recognizer *dg = RecognizerFactory::createDirectedGazeRecognizer(this->getActor(), object, (EventSink*)this); // Add a new recognizer for this object this->addDirectedGazeRecognizer(dg); } } ServiceResponse EngagementHandler::dirGazeService(ros::Message *message, std::vector<std::string> objects) { // Create a new boost barrier (add one to include the current thread) boost::barrier barrier(objects.size() + 1); std::vector<Recognizer*> recognizers = std::vector<Recognizer*>(); // Traverse the number of objects given for (unsigned d = 0; d < objects.size(); d++) { // First update the recognizers to make sure we have one for this object this->updateDirectedGazeRecognizer(objects.at(d)); // Grab the current directed gaze recognizer Recognizer *dg = this->getDirectedGazeRecognizer(objects.at(d)); // If the objects are the same, then call the directed gaze service for // this recognizer if (dg != NULL) { // Add the recognizer to the vector of used recognizers recognizers.push_back(dg); dg->debug(15, "Calling service on new thread."); // Create the new thread to call the service boost::thread thread(boost::bind(&Recognizer::callService, dg, &barrier)); } // Send the message to all the recognizers this->received(engagement::RECOGNITION_NAMESPACE + "/" + engagement::ROBOT_NAMESPACE + "/" + engagement::RECOG_DIRECTED_GAZE_TOPIC, message); } // The barrier will wait until ALL the threads are finished barrier.wait(); // Now that all the threads have completed, determine if any // of the events succeeded bool successful = false; // Traverse the number of objects given, so long as we're not successful for (unsigned d = 0; !successful && d < recognizers.size(); d++) { // Grab the current recognizer Recognizer *dg = recognizers.at(d); // Make sure the recognizer exists, and grab its status if (dg != NULL) { // Grab the status for this recognizer ServiceResponse response = dg->getStatus(); dg->debug(15, "Passed the service barrier [%s]", (response.isSucceeded() ? "SUCCEEDED" : "FAILED")); // If any single recognizer completes we want to complete successful = successful || (response.isSucceeded()); } } // Return the status depending on if any of the calls succeeded return (successful ? ServiceResponse::succeeded() : ServiceResponse::failed()); } ServiceResponse EngagementHandler::mfGazeService(ros::Message *message) { // Create a barrier (2 due to this thread, and the one we create) boost::barrier barrier(2); // Grab our mutual facial gaze recognizer Recognizer *rec = this->getMutualFacialGazeRecognizer(); // Make sure that we have a recognizer if (rec == NULL) { // Create a new mutual facial gaze recognizer rec = RecognizerFactory::createMutualFacialGazeRecognizer(this->getActor(), this->parent_); // Set our mutual facial gaze recognizer to this recognizer this->setMutualFacialGazeRecognizer(rec); } rec->debug(15, "Calling service on new thread."); // Now call the specific mutual facial gaze recognizer to block boost::thread thread(boost::bind(&Recognizer::callService, rec, &barrier)); // Send this message through to all the recognizers this->received(engagement::RECOGNITION_NAMESPACE + "/" + engagement::ROBOT_NAMESPACE + "/" + engagement::RECOG_MUTUAL_FACIAL_GAZE_TOPIC, message); // Wait for the recognizer to complete before continuing barrier.wait(); // Grab the status of the recognizer ServiceResponse response = rec->getStatus(); rec->debug(15, "Passed service barrier [%s]", (response.isSucceeded() ? "SUCCEEDED" : "FAILED")); return response; } APServiceResponse EngagementHandler::adjPairService(ros::Message *message) { // Create a barrier (2 due to this thread, and the one we create) boost::barrier barrier(2); // Get the adjacency pair recognizer Recognizer *rec = this->getAdjacencyPairRecognizer(); // Make sure we have an adjacency pair recognizers if (rec == NULL) { // Create a new adjacency pair recognizer rec = RecognizerFactory::createAdjacencyPairRecognizer(this->getActor(), this->parent_); // Set our mutual facial gaze recognizer to this recognizer this->setAdjacencyPairRecognizer(rec); } rec->debug(15, "Calling service on new thread."); // Now call the specific adjacency pair recognizer to block boost::thread thread(boost::bind(&Recognizer::callService, rec, &barrier)); // Send this message through to all the recognizers this->received(engagement::RECOGNITION_NAMESPACE + "/" + engagement::ROBOT_NAMESPACE + "/" + engagement::RECOG_ADJACENCY_PAIR_TOPIC, message); // Wait for the recognizer to complete before continuing barrier.wait(); // Grab the status of the recognizer APServiceResponse response = APServiceResponse::cycle(); // Grab the action from the recognizer Action act = rec->getAction(); // Select the appropriate action if (act.isNod()) response.setNod(); else if (act.isShake()) response.setShake(); else if (act.isSpeech()) response.setSpeech(); else if (act.isPoint()) response.setPoint(); else if (act.isLook()) response.setLook(); else if (act.isExtendedAction()) response.setExtendedAction(); else response.setNoAction(); // Set the status from the recognizer response.set(rec->getStatus()); response.setData(act.getData()); rec->debug(15, "Passed service barrier [%s] [%s]", (response.isSucceeded() ? "SUCCEEDED" : "FAILED"), act.toString()); return response; }

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