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

engagement_recognition/src/recognition/handlers/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 "handler.h" #include "../recognizers/recognizer.h" #include "../lib/engagement_params.h" #include "../events/event_factory.h" #include "../actors/actor_manager.h" Handler::~Handler() { // Iterate through all directed gaze recognizers and delete them all std::map<std::string, Recognizer*>::iterator iter; // Delete all of the known directed gaze recognizers for(iter = this->dg_recognizers_.begin(); iter != this->dg_recognizers_.end(); iter++) delete iter->second; // Delete the mutual facial gaze recognizer if (this->mfg_recognizer_ != NULL) delete this->mfg_recognizer_; // Delete the adjacency pair recognizer if (this->ap_recognizer_ != NULL) delete this->ap_recognizer_; // Delete the backchannel recognizer if (this->bc_recognizer_ != NULL) delete this->bc_recognizer_; } Handler::Handler() : EventSink() { // Set the logger for this object this->setLogger(""); // Create a default vector of Recognizers this->mfg_recognizer_ = NULL; this->ap_recognizer_ = NULL; this->bc_recognizer_ = NULL; // Set the actor to null this->setActor(""); } Handler::Handler(std::string actor, EventSink *parent) : EventSink(parent) { // Set the logger for this object this->setLogger(parent->getLogger()); // Create a default vector of Recognizers this->mfg_recognizer_ = NULL; this->ap_recognizer_ = NULL; this->bc_recognizer_ = NULL; // Set the actor to given values this->setActor(actor); } void Handler::received(std::string topic, ros::Message *message) { // Iterate through all directed gaze recognizers and delete them all std::map<std::string, Recognizer*>::iterator iter; // Traverse through all the known recognizers for(iter = this->dg_recognizers_.begin(); iter != this->dg_recognizers_.end(); iter++) { // Send the message to the directed gaze recognizer iter->second->received(topic, message); } // Send the message to the mutual facial gaze recognizer if (this->mfg_recognizer_ != NULL) this->mfg_recognizer_->received(topic, message); // Send the message to the adjacency pair recognizer if (this->ap_recognizer_ != NULL) this->ap_recognizer_->received(topic, message); // Send the message to the backchannel recognizer if (this->bc_recognizer_ != NULL) this->bc_recognizer_->received(topic, message); } void Handler::setActor(std::string actor) { if (actor == "") this->warn("Handler initialized to a null actor."); // Set the actor field for this Handler this->actor_ = actor; } std::string Handler::getActor() { // Return the actor field for this Handler return this->actor_; } void Handler::addDirectedGazeRecognizer(Recognizer *rec) { // Make sure the recognizer exists if (rec != NULL) this->dg_recognizers_[rec->getObject()] = rec; } void Handler::setMutualFacialGazeRecognizer(Recognizer *rec) { if (this->mfg_recognizer_ != NULL) delete this->mfg_recognizer_; this->mfg_recognizer_ = rec; } void Handler::setAdjacencyPairRecognizer(Recognizer *rec) { if (this->ap_recognizer_ != NULL) delete this->ap_recognizer_; this->ap_recognizer_ = rec; } void Handler::setBackchannelRecognizer(Recognizer *rec) { if (this->bc_recognizer_ != NULL) delete this->bc_recognizer_; this->bc_recognizer_ = rec; } void Handler::addEvent(Event event) { Actor *actor = ActorManager::findActor(this->actor_); if (actor) { // Parse the success and failed events if (EventFactory::isCompleted(event)) { // Grab the additional data from the event std::vector<std::string> event_additional = event.getAdditional(); // Make sure we have all the information if (event_additional.size() == 8) { // Grab the information from the event std::string type = event_additional.at(0); // Grab the start, delay, duration and success of the event std::string str_start = event_additional.at(3); std::string str_delay = event_additional.at(4); std::string str_duration = event_additional.at(5); std::string str_success = event_additional.at(6); std::string str_data = event_additional.at(7); // Determine the success of the connection event bool success = (str_success == EventFactory::getSuccessName() ? true : false); // Determine the duration of the connection event unsigned long start = atof(str_start.c_str()); unsigned long delay = atof(str_delay.c_str()); unsigned long duration = atof(str_duration.c_str()); // Add the event to this actor's timeline actor->addEvent(type, success, start, delay, duration, str_data); } } } } Recognizer *Handler::getDirectedGazeRecognizer(std::string object) { return this->dg_recognizers_[object]; } Recognizer *Handler::getMutualFacialGazeRecognizer() { return this->mfg_recognizer_; } Recognizer *Handler::getAdjacencyPairRecognizer() { return this->ap_recognizer_; } Recognizer *Handler::getBackchannelRecognizer() { return this->bc_recognizer_; }

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