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

engagement_recognition/src/recognition/rnode/callbacks/recognition.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 _RECOGNITION_H #define _RECOGNITION_H #include <ros/callback_queue.h> #include "engagement_msgs/APAction.h" bool RNode::recogStatisticsService(engagement_srvs::ActorStatistics::Request &req, engagement_srvs::ActorStatistics::Response &res) { this->debug(24, "Entered %s %s callback", engagement::RECOGNITION_NAMESPACE.c_str(), engagement::RECOG_STATISTICS_TOPIC.c_str()); // Extract the request object from the message const engagement_msgs::ActorID temp_msg = req.actor; // Attempt to find the actor Actor *actor = this->findActor(temp_msg.id); // Ensure that the actor exists if (!actor) { this->warn("Actor [%s] does not exist.", temp_msg.id.c_str()); this->error("Rejected '%s' message.", engagement::RECOG_STATISTICS_TOPIC.c_str()); return false; } // Grab the statistics for this actor std::vector<unsigned long> stats = actor->getStatistics(); // Make sure we have the correct number of elements // in the vector if (stats.size() != 14) return false; this->debug(6, "Received a %s %s message.", engagement::RECOGNITION_NAMESPACE.c_str(), engagement::RECOG_STATISTICS_TOPIC.c_str()); // Store all the overall statistics res.mean_tbce = stats.at(0); res.max_tbce = stats.at(1); res.mean_delay = stats.at(2); res.max_delay = stats.at(3); // TODO: ADD MEAN AND MAX DURATION TO THE STATISTICS // res.mean_duration = stats.at(4); // res.max_duration = stats.at(5); res.failure_rate = stats.at(6); // Store all of the recent statistics res.recent_mean_tbce = stats.at(7); res.recent_max_tbce = stats.at(8); res.recent_mean_delay = stats.at(9); res.recent_max_delay = stats.at(10); // TODO: ADD RECENT MEAN AND MAX DURATION TO THE STATISTICS // res.recent_mean_duration = stats.at(11); // res.recent_max_duration = stats.at(12); res.recent_failure_rate = stats.at(13); this->debug(24, "Exiting %s %s callback", engagement::RECOGNITION_NAMESPACE.c_str(), engagement::RECOG_STATISTICS_TOPIC.c_str()); return true; } bool RNode::recogDirGazeService(engagement_srvs::RobotDirectedGaze::Request &req, engagement_srvs::RobotDirectedGaze::Response &res) { this->debug(24, "Entered %s %s callback", engagement::RECOGNITION_NAMESPACE.c_str(), engagement::RECOG_DIRECTED_GAZE_TOPIC.c_str()); // Extract the request object from the message const engagement_srvs::RobotDirectedGaze::Request temp_msg = req; // Grab the vector of objects from the vector of entities std::vector<std::string> msg_objects = objects::getObjectsFromEntities(temp_msg.objects); Actor *actor = this->findActor(temp_msg.actor.id); // Ensure that the actor exists if (!actor) { this->warn("Actor [%s] does not exist.", temp_msg.actor.id.c_str()); this->error("Rejected '%s' message.", engagement::RECOG_DIRECTED_GAZE_TOPIC.c_str()); res.result.value= bml_msgs::Flag::INVALID; return false; } // If the directed gaze is starting, add the objects, otherwise remove them if (temp_msg.done.value == bml_msgs::Flag::NOT_DONE) { // Keep track of where the robot is looking Robot::setLookAt(true, msg_objects); // If the robot is pointing as well, keep track of where the // robot is pointing Robot::setPointAt(true, msg_objects); // If the shared gaze was already started, it just ended if (this->shared_gaze_start_ != UNDEFINED_TIME) this->endSharedGaze(); } this->debug(6, "Received a %s %s message.", engagement::RECOGNITION_NAMESPACE.c_str(), engagement::RECOG_DIRECTED_GAZE_TOPIC.c_str()); // First spawn a thread this->spawnThread(); // Publish the message to the corresponding actor, which will block // until the recognizer succeeds or fails ServiceResponse status = actor->dirGazeService(&req, msg_objects); // Set the response flag accordingly if (status.isSucceeded()) res.result.value = bml_msgs::Flag::TRUE; else res.result.value= bml_msgs::Flag::FALSE; // Always send success in the event that we're degraded if (EngagementParams::isDegraded()) { this->purple("Sending success for directed gaze."); res.result.value = bml_msgs::Flag::TRUE; } this->debug(24, "Exited %s %s callback", engagement::RECOGNITION_NAMESPACE.c_str(), engagement::RECOG_DIRECTED_GAZE_TOPIC.c_str()); return true; } bool RNode::recogMFGazeService(engagement_srvs::RobotMutualFacialGaze::Request &req, engagement_srvs::RobotMutualFacialGaze::Response &res) { this->debug(24, "Entered %s %s callback", engagement::RECOGNITION_NAMESPACE.c_str(), engagement::RECOG_MUTUAL_FACIAL_GAZE_TOPIC.c_str()); // Extract the request object from the message engagement_msgs::ActorID temp_msg = req.actor; Actor *actor = this->findActor(temp_msg.id); // Ensure that the actor exists if (!actor) { this->warn("Actor [%s] does not exist.", temp_msg.id.c_str()); this->error("Rejected '%s' message.", engagement::RECOG_MUTUAL_FACIAL_GAZE_TOPIC.c_str()); res.result.value= bml_msgs::Flag::INVALID; return false; } // Keep track of where the robot is looking Robot::setFacialGaze(true, temp_msg.id); // Since the facial gaze is starting, if the actor is already in facial // gaze then the shared gaze starts if (actor->isFacialGaze()) this->startSharedGaze(); this->debug(6, "Received a %s %s message.", engagement::RECOGNITION_NAMESPACE.c_str(), engagement::RECOG_MUTUAL_FACIAL_GAZE_TOPIC.c_str()); // First spawn a thread this->spawnThread(); // Publish the message to the corresponding actor, which will block // until the recognizer succeeds or fails ServiceResponse status = actor->mfGazeService(&req); // Set the response flag accordingly if (status.isSucceeded()) res.result.value = bml_msgs::Flag::TRUE; else res.result.value = bml_msgs::Flag::FALSE; // Always send success in the event that we're degraded if (EngagementParams::isDegraded()) { this->purple("Sending success for mutual facial gaze."); res.result.value = bml_msgs::Flag::TRUE; } this->debug(24, "Exited %s %s callback", engagement::RECOGNITION_NAMESPACE.c_str(), engagement::RECOG_MUTUAL_FACIAL_GAZE_TOPIC.c_str()); return true; } bool RNode::recogAdjacencyPairService(engagement_srvs::RobotAdjacencyPair::Request &req, engagement_srvs::RobotAdjacencyPair::Response &res) { this->debug(24, "Entered %s %s callback", engagement::RECOGNITION_NAMESPACE.c_str(), engagement::RECOG_ADJACENCY_PAIR_TOPIC.c_str()); // Extract the request object from the message engagement_msgs::ActorID temp_msg = req.actor; Actor *actor = this->findActor(temp_msg.id); // Ensure that the actor exists if (!actor) { this->warn("Actor [%s] does not exist.", temp_msg.id.c_str()); this->error("Rejected '%s' message.", engagement::RECOG_ADJACENCY_PAIR_TOPIC.c_str()); res.result.value= bml_msgs::Flag::INVALID; return false; } this->debug(6, "Received a %s %s message.", engagement::RECOGNITION_NAMESPACE.c_str(), engagement::RECOG_ADJACENCY_PAIR_TOPIC.c_str()); // Set the robot's waiting state to true Robot::setWaiting(true); // First spawn a thread this->spawnThread(); // Publish the message to the corresponding actor, which will block // until the recognizer succeeds or fails APServiceResponse status = actor->adjPairService(&req); // Set the robot's waiting state to false Robot::setWaiting(false); // Determine which action was used to complete the AP, // only if the event succeeded if (status.isSucceeded()) { // Select which action was used if (status.isNod()) res.action.value = engagement_msgs::APAction::NOD; else if (status.isShake()) res.action.value = engagement_msgs::APAction::SHAKE; else if (status.isSpeech()) res.action.value = engagement_msgs::APAction::SPEECH; else if (status.isPoint()) res.action.value = engagement_msgs::APAction::POINT; else if (status.isLook()) res.action.value = engagement_msgs::APAction::LOOK; else if (status.isExtendedAction()) res.action.value = engagement_msgs::APAction::EXTENDED_ACTION; else res.action.value = engagement_msgs::APAction::NO_ACTION; // No matter what the event succeeded res.result.value = bml_msgs::Flag::TRUE; res.action.data = status.getData(); } else { // The event failed, with no action res.action.value = engagement_msgs::APAction::NO_ACTION; res.result.value = bml_msgs::Flag::FALSE; } // Always send success in the event that we're degraded if (EngagementParams::isDegraded()) { this->purple("Sending success for adjacency pair."); res.result.value = bml_msgs::Flag::TRUE; } this->debug(24, "Exited %s %s callback [action: %d] [result: %d]", engagement::RECOGNITION_NAMESPACE.c_str(), engagement::RECOG_ADJACENCY_PAIR_TOPIC.c_str(), res.action.value, res.result.value); return true; } #endif // _RECOGNITION_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