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

engagement_recognition/src/recognition/states/state.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 "state.h" #include "../lib/engagement_params.h" #include "../actors/actor_manager.h" State::State() : EventSink() { // No name or actor given this->name_ = ""; this->actor_ = ""; } State::State(std::string name, std::string actor, EventSink *sink) : EventSink(sink) { // Set the name and actor for this object this->name_ = name; this->actor_ = actor; } State::~State() { // Intentionally left blank } void State::castEvent(Event event) { // Cast the event with the parent event sink this->parent_->castEvent(event); } bool State::compareAdditional(std::vector<std::string> additional, std::string compare) { // Make sure we have a valid parent if (this->parent_ == NULL) return false; // Compare the additional with the event sink return (this->parent_->compareAdditional(additional, compare)); } Event State::received(std::string topic, ros::Message *message) { // Get the data type and MD5 sum of this message std::string data = message->__getDataType(); this->debug(30, "Received topic: [%s]", topic.c_str()); this->debug(30, "Received message [%s]\n", data.c_str()); // Create an empty event, which will help us determine // whether an event was created and needs to be handled Event event = Event(); // Send the message to the state if (data == engagement_msgs::ActorID::__s_getDataType()) event = this->received(topic, (engagement_msgs::ActorID*)message); else if (data == engagement_msgs::ActorIDStatus::__s_getDataType()) event = this->received(topic, (engagement_msgs::ActorIDStatus*)message); else if (data == engagement_msgs::Empty::__s_getDataType()) event = this->received(topic, (engagement_msgs::Empty*)message); else if (data == bml_msgs::Entity::__s_getDataType()) event = this->received(topic, (bml_msgs::Entity*)message); else if (data == bml_msgs::Flag::__s_getDataType()) event = this->received(topic, (bml_msgs::Flag*)message); else if (data == engagement_msgs::HumanAdjacencyPair::__s_getDataType()) event = this->received(topic, (engagement_msgs::HumanAdjacencyPair*)message); else if (data == engagement_msgs::HumanBackchannel::__s_getDataType()) event = this->received(topic, (engagement_msgs::HumanBackchannel*)message); else if (data == engagement_msgs::HumanDirectedGaze::__s_getDataType()) event = this->received(topic, (engagement_msgs::HumanDirectedGaze*)message); else if (data == engagement_msgs::HumanMutualFacialGaze::__s_getDataType()) event = this->received(topic, (engagement_msgs::HumanMutualFacialGaze*)message); else if (data == engagement_msgs::Performance::__s_getDataType()) event = this->received(topic, (engagement_msgs::Performance*)message); else if (data == engagement_srvs::ActorStatistics::Request::__s_getDataType()) event = this->received(topic, (engagement_srvs::ActorStatistics::Request*)message); else if (data == engagement_srvs::RobotAdjacencyPair::Request::__s_getDataType()) event = this->received(topic, (engagement_srvs::RobotAdjacencyPair::Request*)message); else if (data == engagement_srvs::RobotDirectedGaze::Request::__s_getDataType()) event = this->received(topic, (engagement_srvs::RobotDirectedGaze::Request*)message); else if (data == engagement_srvs::RobotMutualFacialGaze::Request::__s_getDataType()) event = this->received(topic, (engagement_srvs::RobotMutualFacialGaze::Request*)message); else if (data == engagement_msgs::Speech::__s_getDataType()) event = this->received(topic, (engagement_msgs::Speech*)message); else this->error("Received unknown message type: [%s]", data.c_str()); return event; } Event State::received(std::string topic, engagement_msgs::ActorID *message) { // Return a blank event if this has not been overridden return Event(); } Event State::received(std::string topic, engagement_msgs::ActorIDStatus *message) { // Return a blank event if this has not been overridden return Event(); } Event State::received(std::string topic, engagement_msgs::Empty *message) { // Return a blank event if this has not been overridden return Event(); } Event State::received(std::string topic, bml_msgs::Entity *message) { // Return a blank event if this has not been overridden return Event(); } Event State::received(std::string topic, bml_msgs::Flag *message) { // Return a blank event if this has not been overridden return Event(); } Event State::received(std::string topic, engagement_msgs::HumanAdjacencyPair *message) { // Return a blank event if this has not been overridden return Event(); } Event State::received(std::string topic, engagement_msgs::HumanBackchannel *message) { // Return a blank event if this has not been overridden return Event(); } Event State::received(std::string topic, engagement_msgs::HumanDirectedGaze *message) { // Return a blank event if this has not been overridden return Event(); } Event State::received(std::string topic, engagement_msgs::HumanMutualFacialGaze *message) { // Return a blank event if this has not been overridden return Event(); } Event State::received(std::string topic, engagement_msgs::Performance *message) { // Return a blank event if this has not been overridden return Event(); } Event State::received(std::string topic, engagement_srvs::ActorStatistics::Request *message) { // Return a blank event if this has not been overridden return Event(); } Event State::received(std::string topic, engagement_srvs::RobotAdjacencyPair::Request *message) { // Return a blank event if this has not been overridden return Event(); } Event State::received(std::string topic, engagement_srvs::RobotDirectedGaze::Request *message) { // Return a blank event if this has not been overridden return Event(); } Event State::received(std::string topic, engagement_srvs::RobotMutualFacialGaze::Request *message) { // Return a blank event if this has not been overridden return Event(); } Event State::received(std::string topic, engagement_msgs::Speech *message) { // Return a blank event if this has not been overridden return Event(); } Actor *State::getActor() { return ActorManager::findActor(this->actor_); } const char *State::getName() { return this->name_.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