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

engagement_recognition/src/recognition/lib/engagement_params.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_params.h" #include "engagement_declarations.h" #include <stdio.h> // Set the instance of the EngagementParams class to NULL EngagementParams *EngagementParams::param_ = new EngagementParams(); void EngagementParams::destroy() { // Grab the instance of the params EngagementParams *params = EngagementParams::getParams(); // Make sure it exists if (params) { // Destroy all the node handles EngagementParams::destroyNodeHandles(); // Now destroy the EngagementParams object delete EngagementParams::param_; EngagementParams::param_ = NULL; } } EngagementParams::EngagementParams() { this->retrieved_parameters_ = false; this->degraded_ = false; this->base_handle_ = NULL; this->vision_handle_ = NULL; this->collab_handle_ = NULL; this->performing_handle_ = NULL; this->recog_handle_ = NULL; this->recog_human_handle_ = NULL; this->recog_robot_handle_ = NULL; this->conf_handle_ = NULL; this->conf_dir_gaze_handle_ = NULL; this->conf_mf_gaze_handle_ = NULL; this->conf_adjacency_pair_handle_ = NULL; this->conf_backchannel_handle_ = NULL; this->log_directory_ = ""; this->log_file_ = ""; } EngagementParams *EngagementParams::getParams() { // If the object doesn't exist, create it if (EngagementParams::param_ == NULL) EngagementParams::param_ = new EngagementParams(); // Return the EngagementParams object return EngagementParams::param_; } void EngagementParams::retrieveParameters(bool force) { EngagementParams *params = EngagementParams::getParams(); // Make sure the conf node handle exists if (params->conf_handle_ == NULL) EngagementParams::createNodeHandles(); // If the parameters have not yet been retrieved, or the // retrieval is being forced if (params && params->conf_handle_ && (!params->retrieved_parameters_ || force)) { // Grab the verbosity and degraded params from the param server params->conf_handle_->param(engagement::VERBOSITY_PARAM, params->verbosity_, int(0)); params->conf_handle_->param(engagement::DEGRADED_PARAM, params->degraded_, false); // Grab the color codes from the param server params->conf_handle_->param(engagement::RECOG_FG_COLOR_PARAM, params->recog_fg_color_, int(31)); params->conf_adjacency_pair_handle_->param( engagement::ADJACENCY_PAIR_FG_COLOR_PARAM, params->ap_fg_color_, int(32)); params->conf_backchannel_handle_->param( engagement::BACKCHANNEL_FG_COLOR_PARAM, params->bc_fg_color_, int(33)); params->conf_dir_gaze_handle_->param( engagement::DIRECTED_GAZE_FG_COLOR_PARAM, params->dg_fg_color_, int(34)); params->conf_mf_gaze_handle_->param( engagement::MUTUAL_FACIAL_GAZE_FG_COLOR_PARAM, params->mfg_fg_color_, int(35)); params->conf_handle_->param(engagement::ACTOR_FG_COLOR_PARAM, params->actor_fg_color_, int(36)); params->conf_handle_->param(engagement::STATE_FG_COLOR_PARAM, params->state_fg_color_, int(36)); params->conf_handle_->param(engagement::SEMAPHORE_FG_COLOR_PARAM, params->sema_fg_color_, int(36)); // Grab the background colors, default to black params->conf_handle_->param(engagement::RECOG_BG_COLOR_PARAM, params->recog_bg_color_, int(40)); params->conf_adjacency_pair_handle_->param( engagement::ADJACENCY_PAIR_BG_COLOR_PARAM, params->ap_bg_color_, int(40)); params->conf_backchannel_handle_->param( engagement::BACKCHANNEL_BG_COLOR_PARAM, params->bc_bg_color_, int(40)); params->conf_dir_gaze_handle_->param( engagement::DIRECTED_GAZE_BG_COLOR_PARAM, params->dg_bg_color_, int(40)); params->conf_mf_gaze_handle_->param( engagement::MUTUAL_FACIAL_GAZE_BG_COLOR_PARAM, params->mfg_bg_color_, int(40)); params->conf_handle_->param(engagement::ACTOR_BG_COLOR_PARAM, params->actor_bg_color_, int(40)); params->conf_handle_->param(engagement::STATE_BG_COLOR_PARAM, params->state_bg_color_, int(40)); params->conf_handle_->param(engagement::SEMAPHORE_BG_COLOR_PARAM, params->sema_bg_color_, int(40)); params->conf_handle_->param(engagement::LOG_STATS_PARAM, params->log_file_, (std::string)"engagement_stats.csv"); params->conf_handle_->param(engagement::LOG_DIRECTORY_STATS_PARAM, params->log_directory_, (std::string)"~"); params->retrieved_parameters_ = true; } } bool EngagementParams::isDegraded() { // Grab the instance of the params class EngagementParams *params = EngagementParams::getParams(); // Make sure it exists, and return true if it's degraded if (params) { // If the parameters have not been retrieved, retrieve them if (!params->retrieved_parameters_) EngagementParams::retrieveParameters(); return params->degraded_; } else return false; } int EngagementParams::getVerbosity() { // Grab the instance of the params class EngagementParams *params = EngagementParams::getParams(); // Make sure it exists, and return the verbosity if (params) { // If the parameters have not been retrieved, retrieve them if (!params->retrieved_parameters_) EngagementParams::retrieveParameters(); return params->verbosity_; } else return -1; } std::string EngagementParams::getLogFile() { // Grab the instance of the params class EngagementParams *params = EngagementParams::getParams(); // Make sure it exists, and return the log directory if (params) { // If the parameters have not been retrieved, retrieve them if (!params->retrieved_parameters_) EngagementParams::retrieveParameters(); return params->log_file_; } else return ""; } std::string EngagementParams::getLogDirectory() { // Grab the instance of the params class EngagementParams *params = EngagementParams::getParams(); // Make sure it exists, and return the log directory if (params) { // If the parameters have not been retrieved, retrieve them if (!params->retrieved_parameters_) EngagementParams::retrieveParameters(); return params->log_directory_; } else return ""; } void EngagementParams::setStartTime(unsigned long val) { // Grab the instance of the params EngagementParams *params = EngagementParams::getParams(); // Make sure it exists if (params) { // Set the start time of the logger params->start_time_ = val; } } unsigned long EngagementParams::getStartTime() { // Grab the instance of the params EngagementParams *params = EngagementParams::getParams(); // Make sure it exists, and return the start time if (params) return params->start_time_; else return 0; } void EngagementParams::createNodeHandles() { // Grab the instance of the params EngagementParams *params = EngagementParams::getParams(); // Make sure it exists if (params) { // Create all the configuration namespaces params->base_handle_ = new ros::NodeHandle(); params->internal_handle_ = new ros::NodeHandle("~"); params->conf_handle_ = new ros::NodeHandle(*(params->internal_handle_), engagement::CONF_NAMESPACE); params->conf_dir_gaze_handle_ = new ros::NodeHandle(*(params->conf_handle_), engagement::DIRECTED_GAZE_NAMESPACE); params->conf_mf_gaze_handle_ = new ros::NodeHandle(*(params->conf_handle_), engagement::MUTUAL_FACIAL_GAZE_NAMESPACE); params->conf_adjacency_pair_handle_ = new ros::NodeHandle(*(params->conf_handle_), engagement::ADJACENCY_PAIR_NAMESPACE); params->conf_backchannel_handle_ = new ros::NodeHandle(*(params->conf_handle_), engagement::BACKCHANNEL_NAMESPACE); // Create all the vision namespaces params->vision_handle_ = new ros::NodeHandle(*(params->base_handle_), engagement::VISION_NAMESPACE); // Create all the collaboration namespaces params->collab_handle_ = new ros::NodeHandle(*(params->base_handle_), engagement::COLLAB_NAMESPACE); // Create all the performing namespaces params->performing_handle_ = new ros::NodeHandle(*(params->base_handle_), engagement::PERFORMING_NAMESPACE); // Create all the recognition namespaces params->recog_handle_ = new ros::NodeHandle(*(params->base_handle_), engagement::RECOGNITION_NAMESPACE); params->recog_robot_handle_ = new ros::NodeHandle(*(params->recog_handle_), engagement::ROBOT_NAMESPACE); params->recog_human_handle_ = new ros::NodeHandle(*(params->recog_handle_), engagement::HUMAN_NAMESPACE); } } void EngagementParams::destroyNodeHandles() { // Grab the instance of the params EngagementParams *params = EngagementParams::getParams(); // Make sure it exists if (params) { // Shutdown and destroy the base handle if (params->base_handle_) { params->base_handle_->shutdown(); delete params->base_handle_; params->base_handle_ = NULL; } // Shutdown and destroy the vision handle if (params->vision_handle_) { params->vision_handle_->shutdown(); delete params->vision_handle_; params->vision_handle_ = NULL; } // Shutdown and destroy the collab handle if (params->collab_handle_) { params->collab_handle_->shutdown(); delete params->collab_handle_; params->collab_handle_ = NULL; } // Shutdown and destroy the performing handle if (params->performing_handle_) { params->performing_handle_->shutdown(); delete params->performing_handle_; params->performing_handle_ = NULL; } // Shutdown and destroy the recog handle if (params->recog_handle_) { params->recog_handle_->shutdown(); delete params->recog_handle_; params->recog_handle_ = NULL; } // Shutdown and destroy the recog human handle if (params->recog_human_handle_) { params->recog_human_handle_->shutdown(); delete params->recog_human_handle_; params->recog_human_handle_ = NULL; } // Shutdown and destroy the recog robot handle if (params->recog_robot_handle_) { params->recog_robot_handle_->shutdown(); delete params->recog_robot_handle_; params->recog_robot_handle_ = NULL; } // Shutdown and destroy the internal handle if (params->internal_handle_) { params->internal_handle_->shutdown(); delete params->internal_handle_; params->internal_handle_ = NULL; } // Shutdown and destroy the conf handle if (params->conf_handle_) { params->conf_handle_->shutdown(); delete params->conf_handle_; params->conf_handle_ = NULL; } // Shutdown and destroy the conf directed gaze handle if (params->conf_dir_gaze_handle_) { params->conf_dir_gaze_handle_->shutdown(); delete params->conf_dir_gaze_handle_; params->conf_dir_gaze_handle_ = NULL; } // Shutdown and destroy the conf mutual facial gaze handle if (params->conf_mf_gaze_handle_) { params->conf_mf_gaze_handle_->shutdown(); delete params->conf_mf_gaze_handle_; params->conf_mf_gaze_handle_ = NULL; } // Shutdown and destroy the conf adjacency pair handle if (params->conf_adjacency_pair_handle_) { params->conf_adjacency_pair_handle_->shutdown(); delete params->conf_adjacency_pair_handle_; params->conf_adjacency_pair_handle_ = NULL; } // Shutdown and destroy the conf backchannel handle if (params->conf_backchannel_handle_) { params->conf_backchannel_handle_->shutdown(); delete params->conf_backchannel_handle_; params->conf_backchannel_handle_ = NULL; } } } ros::NodeHandle *EngagementParams::getBaseHandle() { // Grab the instance of the params EngagementParams *params = EngagementParams::getParams(); // Make sure it exists if (params) return params->base_handle_; else return NULL; } ros::NodeHandle *EngagementParams::getInternalHandle() { // Grab the instance of the params EngagementParams *params = EngagementParams::getParams(); // Make sure it exists if (params) return params->internal_handle_; else return NULL; } ros::NodeHandle *EngagementParams::getConfHandle() { // Grab the instance of the params EngagementParams *params = EngagementParams::getParams(); // Make sure it exists if (params) return params->conf_handle_; else return NULL; } ros::NodeHandle *EngagementParams::getVisionHandle() { // Grab the instance of the params EngagementParams *params = EngagementParams::getParams(); // Make sure it exists if (params) return params->vision_handle_; else return NULL; } ros::NodeHandle *EngagementParams::getCollabHandle() { // Grab the instance of the params EngagementParams *params = EngagementParams::getParams(); // Make sure it exists if (params) return params->collab_handle_; else return NULL; } ros::NodeHandle *EngagementParams::getPerformingHandle() { // Grab the instance of the params EngagementParams *params = EngagementParams::getParams(); // Make sure it exists if (params) return params->performing_handle_; else return NULL; } ros::NodeHandle *EngagementParams::getRecogHandle() { // Grab the instance of the params EngagementParams *params = EngagementParams::getParams(); // Make sure it exists if (params) return params->recog_handle_; else return NULL; } ros::NodeHandle *EngagementParams::getRecogHumanHandle() { // Grab the instance of the params EngagementParams *params = EngagementParams::getParams(); // Make sure it exists if (params) return params->recog_human_handle_; else return NULL; } ros::NodeHandle *EngagementParams::getRecogRobotHandle() { // Grab the instance of the params EngagementParams *params = EngagementParams::getParams(); // Make sure it exists if (params) return params->recog_robot_handle_; else return NULL; } ros::NodeHandle *EngagementParams::getConfDirGazeHandle() { // Grab the instance of the params EngagementParams *params = EngagementParams::getParams(); // Make sure it exists if (params) return params->conf_dir_gaze_handle_; else return NULL; } ros::NodeHandle *EngagementParams::getConfMFGazeHandle() { // Grab the instance of the params EngagementParams *params = EngagementParams::getParams(); // Make sure it exists if (params) return params->conf_mf_gaze_handle_; else return NULL; } ros::NodeHandle *EngagementParams::getConfAdjacencyPairHandle() { // Grab the instance of the params EngagementParams *params = EngagementParams::getParams(); // Make sure it exists if (params) return params->conf_adjacency_pair_handle_; else return NULL; } ros::NodeHandle *EngagementParams::getConfBackchannelHandle() { // Grab the instance of the params EngagementParams *params = EngagementParams::getParams(); // Make sure it exists if (params) return params->conf_backchannel_handle_; else return NULL; } const char *EngagementParams::getRecogTag() { std::string temp = "[" + engagement::RECOGNITION_TYPE + "]:"; EngagementParams *params = EngagementParams::getParams(); // Make sure it exists if (params) { // If the parameters have not been retrieved, retrieve them if (!params->retrieved_parameters_) EngagementParams::retrieveParameters(); // Add the recog string before the given string std::string result = "\033[" + boost::lexical_cast<std::string>(params->recog_fg_color_) + "m" + "\033[" + boost::lexical_cast<std::string>(params->recog_bg_color_) + "m" + temp + "\033[0m "; return result.c_str(); } return (temp + " ").c_str(); } const char *EngagementParams::getAPTag() { std::string temp = "[ " + engagement::ADJACENCY_PAIR_TYPE + "]:"; EngagementParams *params = EngagementParams::getParams(); // Make sure the it exists if (params) { // If the parameters have not been retrieved, retrieve them if (!params->retrieved_parameters_) EngagementParams::retrieveParameters(); // Add the recog string before the given string std::string result = "\033[" + boost::lexical_cast<std::string>(params->ap_fg_color_) + "m" + "\033[" + boost::lexical_cast<std::string>(params->ap_bg_color_) + "m" + temp + "\033[0m "; return result.c_str(); } return (temp + " ").c_str(); } const char *EngagementParams::getBCTag() { std::string temp = "[ " + engagement::BACKCHANNEL_TYPE + "]:"; EngagementParams *params = EngagementParams::getParams(); // Make sure the it exists if (params) { // If the parameters have not been retrieved, retrieve them if (!params->retrieved_parameters_) EngagementParams::retrieveParameters(); // Add the recog string before the given string std::string result = "\033[" + boost::lexical_cast<std::string>(params->bc_fg_color_) + "m" + "\033[" + boost::lexical_cast<std::string>(params->bc_bg_color_) + "m" + temp + "\033[0m "; return result.c_str(); } return (temp + " ").c_str(); } const char *EngagementParams::getDGTag(std::string object) { static std::string result = ""; std::string temp = "[ " + engagement::DIRECTED_GAZE_TYPE + "]:"; EngagementParams *params = EngagementParams::getParams(); // Make sure the it exists if (params) { // If the parameters have not been retrieved, retrieve them if (!params->retrieved_parameters_) EngagementParams::retrieveParameters(); // Add the recog string before the given string result = "\033[" + boost::lexical_cast<std::string>(params->dg_fg_color_) + "m\033[" + boost::lexical_cast<std::string>(params->dg_bg_color_) + "m" + temp + "\033[0m "; // Grab the object tag std::string object_tag = EngagementParams::getObjectTag(object); // Append the object tag onto the end of the DG tag result += object_tag; return result.c_str(); } // Add a space to the name for the result result = (temp + " "); return result.c_str(); } const char *EngagementParams::getMFGTag() { static std::string result = ""; std::string temp = "[" + engagement::MUTUAL_FACIAL_GAZE_TYPE + "]:"; EngagementParams *params = EngagementParams::getParams(); // Make sure the it exists if (params) { // If the parameters have not been retrieved, retrieve them if (!params->retrieved_parameters_) EngagementParams::retrieveParameters(); // Add the recog string before the given string result = "\033[" + boost::lexical_cast<std::string>(params->mfg_fg_color_) + "m\033[" + boost::lexical_cast<std::string>(params->mfg_bg_color_) + "m" + temp + "\033[0m "; return result.c_str(); } result = (temp + " "); return result.c_str(); } const char *EngagementParams::getActorTag(std::string name) { static std::string result = ""; std::string temp = "[" + name + "]:"; EngagementParams *params = EngagementParams::getParams(); // Make sure the it exists if (params) { // If the parameters have not been retrieved, retrieve them if (!params->retrieved_parameters_) EngagementParams::retrieveParameters(); // Add the recog string before the given string result = "\033[" + boost::lexical_cast<std::string>(params->actor_fg_color_) + "m\033[" + boost::lexical_cast<std::string>(params->actor_bg_color_) + "m" + temp + "\033[0m "; return result.c_str(); } result = (temp + " "); return result.c_str(); } const char *EngagementParams::getSemaphoreTag() { static std::string result = ""; std::string temp = "[" + engagement::SEMAPHORE_TYPE + "]:"; EngagementParams *params = EngagementParams::getParams(); // Make sure the it exists if (params) { // If the parameters have not been retrieved, retrieve them if (!params->retrieved_parameters_) EngagementParams::retrieveParameters(); // Add the recog string before the given string result = "\033[" + boost::lexical_cast<std::string>(params->sema_fg_color_) + "m\033[" + boost::lexical_cast<std::string>(params->sema_bg_color_) + "m" + temp + "\033[0m "; return result.c_str(); } result = (temp + " "); return result.c_str(); } const char *EngagementParams::getStateTag(std::string name) { static std::string result = ""; std::string temp = "[" + name + "]:"; EngagementParams *params = EngagementParams::getParams(); // Make sure the it exists if (params) { // If the parameters have not been retrieved, retrieve them if (!params->retrieved_parameters_) EngagementParams::retrieveParameters(); // Add the recog string before the given string result = "\033[" + boost::lexical_cast<std::string>(params->state_fg_color_) + "m\033[" + boost::lexical_cast<std::string>(params->state_bg_color_) + "m" + temp + "\033[0m "; return result.c_str(); } result = (temp + " "); return result.c_str(); } const char *EngagementParams::getObjectTag(std::string object) { static std::string result = ""; // Make sure the object name exists if (object.size() > 0) { std::string temp = "[" + object + "]:"; std::string color = "0"; // transform the object string to lower case std::transform(object.begin(), object.end(), object.begin(), tolower); // Determine what color the object is if (object.compare(0, 3, "red") == 0 || object.compare(0, 6, "orange") == 0) color = "31"; else if (object.compare(0, 5, "green") == 0) color = "32"; else if (object.compare(0, 6, "yellow") == 0) color = "33"; else if (object.compare(0, 4, "blue") == 0) color = "34"; else if (object.compare(0, 6, "purple") == 0) color = "35"; else if (object.compare(0, 4, "cyan") == 0) color = "36"; result = "\033[" + color + "m" + temp + "\033[0m "; return result.c_str(); } result = ""; return result.c_str(); }

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