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

engagement_recognition/src/recognition/rnode/callbacks/performing.h 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) #ifndef _PERFORMING_H #define _PERFORMING_H void RNode::performingLookCallback(const engagement_msgs::PerformanceConstPtr& msg) { this->debug(24, "Entered %s %s callback", engagement::PERFORMING_NAMESPACE.c_str(), engagement::PERFORMING_LOOK_TOPIC.c_str()); // Make sure we have a valid message if (msg) { // Grab the message type from the constant pointer engagement_msgs::Performance temp_msg = *msg; // Grab the vector of objects from the vector of entities std::vector<std::string> msg_objects = objects::getObjectsFromEntities(temp_msg.objects); // Determine if the message is for an actor if (temp_msg.actor.id != temp_msg.actor.ROBOT) { // Call the method to handle input pertaining to the actor if (!objects::areObjects(temp_msg.objects)) this->visionFacialGazeCallback(msg); else this->visionLookCallback(msg); this->debug(24, "Exited %s %s callback", engagement::PERFORMING_NAMESPACE.c_str(), engagement::PERFORMING_LOOK_TOPIC.c_str()); return; } // The message is pertaining to the robot's action // Either actor is looking at another actor, or at a set of objects if (msg_objects.size() > 0) { // Keep track of the objects the robotis looking at Robot::setLookAt(true, msg_objects); // If the actor and robot were in facial gaze then end the shared gaze if (this->shared_gaze_start_ != UNDEFINED_TIME) this->endSharedGaze(); } else { // Attempt to locate the actor Actor *actor = this->findActor(temp_msg.actor.id); // Ensure that the actor exists, only if the actor is not the robot if (temp_msg.actor.id != temp_msg.actor.ROBOT && !actor) { this->warn("Actor [%s] does not exist.", temp_msg.actor.id.c_str()); this->error("Rejected '%s' message.", engagement::PERFORMING_LOOK_TOPIC.c_str()); return; } // If the robot is currently in facial gaze, and the // actor is not the same then shared gaze ends if (!Robot::isFacialGaze(temp_msg.actor.id)) this->endSharedGaze(); // Keep track of the facial gaze with the actor Robot::setFacialGaze(temp_msg.begin.value == bml_msgs::Flag::BEGIN, temp_msg.actor.id); } this->debug(6, "Received a %s %s message.", engagement::PERFORMING_NAMESPACE.c_str(), engagement::PERFORMING_LOOK_TOPIC.c_str()); // Publish the message internally this->relayToActors(engagement::PERFORMING_NAMESPACE + "/" + engagement::PERFORMING_LOOK_TOPIC, &temp_msg); } this->debug(24, "Exited %s %s callback", engagement::PERFORMING_NAMESPACE.c_str(), engagement::PERFORMING_LOOK_TOPIC.c_str()); } void RNode::performingShakeCallback(const engagement_msgs::PerformanceConstPtr& msg) { this->debug(24, "Entered %s %s callback", engagement::PERFORMING_NAMESPACE.c_str(), engagement::PERFORMING_SHAKE_TOPIC.c_str()); // Make sure we have a valid message if (msg) { engagement_msgs::Performance temp_msg = *msg; // Determine if the message is for an actor if (temp_msg.actor.id != temp_msg.actor.ROBOT) { // Call the method to handle input pertaining to the actor this->visionShakeCallback(msg); return; } // The message is pertaining to the robot's action this->debug(6, "Received a %s %s message.", engagement::PERFORMING_NAMESPACE.c_str(), engagement::PERFORMING_SHAKE_TOPIC.c_str()); // Publish the message internally this->relayToActors(engagement::PERFORMING_NAMESPACE + "/" + engagement::PERFORMING_SHAKE_TOPIC, &temp_msg); } this->debug(24, "Exited %s %s callback", engagement::PERFORMING_NAMESPACE.c_str(), engagement::PERFORMING_SHAKE_TOPIC.c_str()); } void RNode::performingNodCallback(const engagement_msgs::PerformanceConstPtr& msg) { this->debug(24, "Entered %s %s callback", engagement::PERFORMING_NAMESPACE.c_str(), engagement::PERFORMING_NOD_TOPIC.c_str()); // Make sure we have a valid message if (msg) { engagement_msgs::Performance temp_msg = *msg; // Determine if the message is for an actor if (temp_msg.actor.id != temp_msg.actor.ROBOT) { // Call the method to handle input pertaining to the actor this->visionNodCallback(msg); return; } // The message is pertaining to the robot's action this->debug(6, "Received a %s %s message.", engagement::PERFORMING_NAMESPACE.c_str(), engagement::PERFORMING_NOD_TOPIC.c_str()); // Publish the message internally this->relayToActors(engagement::PERFORMING_NAMESPACE + "/" + engagement::PERFORMING_NOD_TOPIC, &temp_msg); } this->debug(24, "Exited %s %s callback", engagement::PERFORMING_NAMESPACE.c_str(), engagement::PERFORMING_NOD_TOPIC.c_str()); } void RNode::performingExtendedActionCallback(const engagement_msgs::PerformanceConstPtr& msg) { this->debug(24, "Entered %s %s callback", engagement::PERFORMING_NAMESPACE.c_str(), engagement::PERFORMING_EXTENDED_ACTION_TOPIC.c_str()); // Make sure we have a valid message if (msg) { engagement_msgs::Performance temp_msg = *msg; // Determine if the message is for an actor if (temp_msg.actor.id != temp_msg.actor.ROBOT) { // Call the method to handle input pertaining to the actor this->visionExtendedActionCallback(msg); return; } // The message is pertaining to the robot's action this->debug(6, "Received a %s %s message.", engagement::PERFORMING_NAMESPACE.c_str(), engagement::PERFORMING_EXTENDED_ACTION_TOPIC.c_str()); // Publish the message internally this->relayToActors(engagement::PERFORMING_NAMESPACE + "/" + engagement::PERFORMING_EXTENDED_ACTION_TOPIC, &temp_msg); } this->debug(24, "Exited %s %s callback", engagement::PERFORMING_NAMESPACE.c_str(), engagement::PERFORMING_EXTENDED_ACTION_TOPIC.c_str()); } void RNode::performingPointCallback(const engagement_msgs::PerformanceConstPtr& msg) { this->debug(24, "Entered %s %s callback", engagement::PERFORMING_NAMESPACE.c_str(), engagement::PERFORMING_POINT_TOPIC.c_str()); // Make sure we have a valid message if (msg) { // Grab the message type from the constant pointer engagement_msgs::Performance temp_msg = *msg; // Determine if the message is for an actor if (temp_msg.actor.id != temp_msg.actor.ROBOT) { // Call the method to handle input pertaining to the actor this->visionPointCallback(msg); return; } // The message is pertaining to the robot's action // If the robot is pointing, remove the objects the robot was pointing at Robot::donePoint(); this->debug(6, "Received a %s %s message.", engagement::PERFORMING_NAMESPACE.c_str(), engagement::PERFORMING_POINT_TOPIC.c_str()); // Publish the message internally this->relayToActors(engagement::PERFORMING_NAMESPACE + "/" + engagement::PERFORMING_POINT_TOPIC, &temp_msg); } this->debug(24, "Exited %s %s callback", engagement::PERFORMING_NAMESPACE.c_str(), engagement::PERFORMING_POINT_TOPIC.c_str()); } void RNode::performingUtteranceCallback(const engagement_msgs::SpeechConstPtr& msg) { this->debug(24, "Entered %s %s callback", engagement::PERFORMING_NAMESPACE.c_str(), engagement::PERFORMING_UTTERANCE_TOPIC.c_str()); // Make sure we have a valid message if (msg) { // Determine if the message was rejected or not bool rejected = false; // Grab the message type from the constant pointer engagement_msgs::Speech temp_msg = *msg; // Make sure the actor exists if (temp_msg.actor.id != temp_msg.actor.ROBOT && !this->findActor(temp_msg.actor.id)) { this->warn("Actor [%s] does not exist.", temp_msg.actor.id.c_str()); rejected = true; } // Check if the message was rejected if (rejected) { this->error("Rejected '%s' message.", engagement::PERFORMING_UTTERANCE_TOPIC.c_str()); return; } this->debug(6, "Received a %s %s [%d] [%d] message.", engagement::PERFORMING_NAMESPACE.c_str(), engagement::PERFORMING_UTTERANCE_TOPIC.c_str(), temp_msg.begin.value, temp_msg.response.value); // If the robot is speaking, and the speech ended, or the // robot is not speaking and the speech started if (Robot::isSpeaking() && temp_msg.begin.value == bml_msgs::Flag::END) Robot::setSpeaking(false); else if (!Robot::isSpeaking() && temp_msg.begin.value == bml_msgs::Flag::BEGIN) Robot::setSpeaking(true); // Publish the message internally this->relayToActors(engagement::PERFORMING_NAMESPACE + "/" + engagement::PERFORMING_UTTERANCE_TOPIC, &temp_msg); } this->debug(24, "Exited %s %s callback", engagement::PERFORMING_NAMESPACE.c_str(), engagement::PERFORMING_UTTERANCE_TOPIC.c_str()); } #endif // _PERFORMING_H

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