Project: bml_realizer License: BSD Dependencies: bml_msgs bml_srvs bml_lib rosjava Used by: None All Packages

bml_realizer/src/edu/wpi/hri/bml/realizer/ControlComm.java 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. */ package edu.wpi.hri.bml.realizer; import ros.NodeHandle; import ros.RosException; import ros.ServiceClient; import ros.pkg.bml_msgs.msg.Entity; import ros.pkg.bml_msgs.msg.Flag; import ros.pkg.bml_srvs.srv.BMLFace; import ros.pkg.bml_srvs.srv.BMLGaze; import ros.pkg.bml_srvs.srv.BMLGesture; import ros.pkg.bml_srvs.srv.BMLHead; import ros.pkg.bml_srvs.srv.BMLLips; import ros.pkg.bml_srvs.srv.BMLLocomotion; import ros.pkg.bml_srvs.srv.BMLSpeech; import edu.wpi.hri.bml.behavior.FaceBehavior; import edu.wpi.hri.bml.behavior.GazeBehavior; import edu.wpi.hri.bml.behavior.GestureBehavior; import edu.wpi.hri.bml.behavior.HeadBehavior; import edu.wpi.hri.bml.behavior.LipsBehavior; import edu.wpi.hri.bml.behavior.LocomotionBehavior; import edu.wpi.hri.bml.behavior.SpeechBehavior; import edu.wpi.hri.bml.behavior.SyncRef; import edu.wpi.hri.bml.behavior.BehaviorEnums.Modality; import edu.wpi.hri.bml.behavior.SyncRef.SyncPoint; import edu.wpi.hri.log.Logger; import edu.wpi.hri.log.Logger.Colors; import edu.wpi.hri.log.Logger.LoggerLevel; public class ControlComm { private final ServiceClient<BMLFace.Request, BMLFace.Response, BMLFace> faceSrv; private final ServiceClient<BMLGaze.Request, BMLGaze.Response, BMLGaze> gazeSrv; private final ServiceClient<BMLGesture.Request, BMLGesture.Response, BMLGesture> gestureSrv; private final ServiceClient<BMLHead.Request, BMLHead.Response, BMLHead> headSrv; private final ServiceClient<BMLLips.Request, BMLLips.Response, BMLLips> lipsSrv; private final ServiceClient<BMLLocomotion.Request, BMLLocomotion.Response, BMLLocomotion> locomotionSrv; private final ServiceClient<BMLSpeech.Request, BMLSpeech.Response, BMLSpeech> speechSrv; private final Logger logger; public ControlComm(Logger logger, NodeHandle handle) { this.logger = logger.sub(Colors.CONTROL, "CTRL"); this.faceSrv = handle.serviceClient("control/face", new BMLFace()); this.gazeSrv = handle.serviceClient("control/gaze", new BMLGaze()); this.gestureSrv = handle.serviceClient("control/gesture", new BMLGesture()); this.headSrv = handle.serviceClient("control/head", new BMLHead()); this.lipsSrv = handle.serviceClient("control/lips", new BMLLips()); this.locomotionSrv = handle.serviceClient("control/locomotion", new BMLLocomotion()); this.speechSrv = handle .serviceClient("control/speech", new BMLSpeech()); this.logger.debug(LoggerLevel.INIT, "Created interface to control"); } public byte sendFace(FaceBehavior face, SyncPoint point) { BMLFace.Request req = new BMLFace.Request(); req.behav.id = face.getID(); req.behav.synchPoint = point.rosValue; req.amount = face.getAmount(); req.au = face.getAu(); req.eyebrowShape = face.getEyebrow().rosValue; req.lid = face.getEyelid().rosValue; req.mouthShape = face.getMouth().rosValue; req.separation = face.getSeparation(); req.side.value = face.getSide().rosValue; req.type = face.getType().rosValue; try { this.logger.debug(LoggerLevel.IO, "Sending face " + new SyncRef(face, point, 0.0)); BMLFace.Response res = this.faceSrv.call(req); if (res != null) return res.status.value; else return Flag.FAILURE; } catch (RosException e) { return Flag.INVALID; } } public byte sendGaze(GazeBehavior gaze, SyncPoint point) { BMLGaze.Request req = new BMLGaze.Request(); req.behav.id = gaze.getID(); req.behav.synchPoint = point.rosValue; req.angle = gaze.getOffsetAngle(); req.target.id = gaze.getTarget(); req.target.type = Entity.UNKNOWN; req.modalities = new short[gaze.getModality().size()]; int index = 0; for (Modality mod : gaze.getModality()) req.modalities[index++] = mod.rosValue; req.offset.value = gaze.getOffsetDirection().rosValue; req.polar = gaze.getPolarAngle(); try { this.logger.debug(LoggerLevel.IO, "Sending gaze " + new SyncRef(gaze, point, 0.0)); BMLGaze.Response res = this.gazeSrv.call(req); if (res != null) return res.status.value; else return Flag.FAILURE; } catch (RosException e) { return Flag.INVALID; } } public byte sendGesture(GestureBehavior gesture, SyncPoint point) { BMLGesture.Request req = new BMLGesture.Request(); req.behav.id = gesture.getID(); req.behav.synchPoint = point.rosValue; req.amplitude = gesture.getAmplitude().rosValue; req.distance = gesture.getDistLoc().rosValue; req.fingerDirection.value = gesture.getFingerDir().rosValue; req.handShape = gesture.getHandShape().rosValue; req.horizontalLocation = gesture.getHorzLoc().rosValue; req.lexeme = gesture.getLexeme(); req.moveDirection.value = gesture.getMoveDir().rosValue; req.palmDirection.value = gesture.getPalmDir().rosValue; req.power = gesture.getPower().rosValue; req.side.value = gesture.getHand().rosValue; req.target.id = gesture.getTarget(); req.target.type = Entity.UNKNOWN; req.trajectory = gesture.getTrajectory().rosValue; req.twoHanded = gesture.getTwoHanded().rosValue; req.type = gesture.getGestureType().rosValue; req.verticalLocation = gesture.getVertLoc().rosValue; try { this.logger.debug(LoggerLevel.IO, "Sending gesture " + new SyncRef(gesture, point, 0.0)); BMLGesture.Response res = this.gestureSrv.call(req); if (res != null) return res.status.value; else return Flag.FAILURE; } catch (RosException e) { return Flag.INVALID; } } public byte sendHead(HeadBehavior head, SyncPoint point) { BMLHead.Request req = new BMLHead.Request(); req.behav.id = head.getID(); req.behav.synchPoint = point.rosValue; req.amount = head.getAmount(); req.motion = head.getType().rosValue; try { this.logger.debug(LoggerLevel.IO, "Sending head " + new SyncRef(head, point, 0.0)); BMLHead.Response res = this.headSrv.call(req); if (res != null) return res.status.value; else return Flag.FAILURE; } catch (RosException e) { return Flag.INVALID; } } public byte sendLips(LipsBehavior lips, SyncPoint point) { BMLLips.Request req = new BMLLips.Request(); req.behav.id = lips.getID(); req.behav.synchPoint = point.rosValue; req.articulation = lips.getArticulation(); req.flapping.value = lips.isFlapping() ? Flag.TRUE : Flag.FALSE; req.viseme = lips.getViseme(); try { this.logger.debug(LoggerLevel.IO, "Sending lips " + new SyncRef(lips, point, 0.0)); BMLLips.Response res = this.lipsSrv.call(req); if (res != null) return res.status.value; else return Flag.FAILURE; } catch (RosException e) { return Flag.INVALID; } } public byte sendLocomotion(LocomotionBehavior locomotion, SyncPoint point) { BMLLocomotion.Request req = new BMLLocomotion.Request(); req.behav.id = locomotion.getID(); req.behav.synchPoint = point.rosValue; req.dynamic.value = locomotion.isDynamic() ? Flag.TRUE : Flag.FALSE; req.facing = locomotion.getFacing(); req.manner = locomotion.getManner().rosValue; req.proximity = locomotion.getProximity(); req.type = locomotion.getType().rosValue; req.velocity = locomotion.getVelocity(); try { this.logger.debug(LoggerLevel.IO, "Sending locomotion " + new SyncRef(locomotion, point, 0.0)); BMLLocomotion.Response res = this.locomotionSrv.call(req); if (res != null) return res.status.value; else return Flag.FAILURE; } catch (RosException e) { return Flag.INVALID; } } public byte sendSpeech(SpeechBehavior speech, SyncPoint point) { BMLSpeech.Request req = new BMLSpeech.Request(); req.behav.id = speech.getID(); req.behav.synchPoint = point.rosValue; req.text = speech.getText(); try { this.logger.debug(LoggerLevel.IO, "Sending speech " + new SyncRef(speech, point, 0.0)); BMLSpeech.Response res = this.speechSrv.call(req); if (res != null) return res.status.value; else return Flag.FAILURE; } catch (RosException e) { return Flag.INVALID; } } }

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bml_realizer
Author(s): Aaron Holroyd (aholroyd (at) wpi (dot) edu)
autogenerated on Fri Sep 9 10:44:12 2011