Revision 42084118

View differences:

client/cpp/include/MiddlewareRSB.h
81 81 
	rsb::ListenerPtr inprotk_listener;
82 82 
	rsb::ListenerPtr hack_listener;
83 83 

  		




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	boost::mutex pending_tasks_mutex;


  		




  
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	std::mutex pending_tasks_mutex;


  		




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	std::vector<boost::shared_ptr<rst::communicationpatterns::TaskState> > pending_tasks;


  		




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	unsigned int say_task_active;


  		




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	unsigned int say_task_done;


  		




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	boost::mutex current_saytask_mutex;


  		




  
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	std::mutex current_saytask_mutex;


  		




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	std::string current_saytask;


  		




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	std::string get_current_saytask();


  		




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	void set_current_saytask(std::string text);


  		












  

    
      server/include/Arbiter.h
    
  





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#include <string>


  		




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#include <vector>


  		




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#include <boost/shared_ptr.hpp>


  		




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#include <boost/thread/mutex.hpp>


  		




  
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#include <mutex>


  		




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#include <humotion/client/client.h>


  		




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#include "EmotionState.h"


  		




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#include "EmotionConfig.h"


  		




  ......




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	humotion::GazeState requested_gaze_state;


  		




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	humotion::MouthState requested_mouth_state;


  		




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	boost::mutex emotion_config_default_mutex;


  		




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	boost::mutex emotion_config_current_mutex;


  		




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	boost::mutex mouth_config_override_mutex;


  		




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	boost::mutex utterance_mutex;


  		




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	boost::mutex requested_gaze_state_mutex;


  		




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	boost::mutex requested_mouth_state_mutex;


  		




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	boost::mutex audio_player_mutex;


  		




  
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	std::mutex emotion_config_default_mutex;


  		




  
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	std::mutex emotion_config_current_mutex;


  		




  
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	std::mutex mouth_config_override_mutex;


  		




  
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	std::mutex utterance_mutex;


  		




  
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	std::mutex requested_gaze_state_mutex;


  		




  
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	std::mutex requested_mouth_state_mutex;


  		




  
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	std::mutex audio_player_mutex;


  		




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	boost::mutex animation_mutex;


  		




  
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	std::mutex animation_mutex;


  		




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	Animation active_animation;


  		




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	typedef std::vector<boost::shared_ptr<Animation>> active_animation_vector_t;


  		




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	boost::mutex active_animation_vector_mutex;


  		




  
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	std::mutex active_animation_vector_mutex;


  		




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	active_animation_vector_t active_animation_vector;


  		




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	AudioPlayer* audio_player;


  		












  

    
      server/src/Arbiter.cpp
    
  





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#include "AudioPlayerLibAO.h"


  		




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#include "AudioPlayerRSB.h"


  		




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#include <boost/algorithm/string/predicate.hpp>


  		




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#include <boost/thread/mutex.hpp>


  		




  
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#include <mutex>


  		




  
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#include <thread>


  		




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#include <iostream>


  		




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using namespace boost;


  		




  ......




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void Arbiter::set_default_emotion(EmotionState e) {


  		




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	// lock access


  		




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	boost::mutex::scoped_lock scoped_lock(emotion_config_default_mutex);


  		




  
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	const std::lock_guard<std::mutex> lock(emotion_config_default_mutex);


  		




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	// update our config, ignore duration as this is the default emotion


  		




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	emotion_config_default.select_config(e.value);


  		




  ......




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void Arbiter::set_current_emotion(EmotionState e) {


  		




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	// lock access


  		




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	boost::mutex::scoped_lock scoped_lock(emotion_config_current_mutex);


  		




  
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	const std::lock_guard<std::mutex> lock(emotion_config_current_mutex);


  		




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	// this will set a emotion override for a given time, after the timeout


  		




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	// we will return to the default emotion state:


  		




  ......




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void Arbiter::set_mouth_config(MouthConfig m) {


  		




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	// lock access


  		




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	boost::mutex::scoped_lock scoped_lock(mouth_config_override_mutex);


  		




  
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	const std::lock_guard<std::mutex> lock(mouth_config_override_mutex);


  		




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	mouth_config = m;


  		




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}


  		




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void Arbiter::set_gaze_target(humotion::GazeState target) {


  		




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	// lock access


  		




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	boost::mutex::scoped_lock scoped_lock(requested_gaze_state_mutex);


  		




  
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	const std::lock_guard<std::mutex> lock(requested_gaze_state_mutex);


  		




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	requested_gaze_state = target;


  		




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}


  		




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void Arbiter::set_mouth_target(humotion::MouthState target) {


  		




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	// lock access


  		




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	boost::mutex::scoped_lock scoped_lock(requested_mouth_state_mutex);


  		




  
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	const std::lock_guard<std::mutex> lock(requested_mouth_state_mutex);


  		




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	requested_mouth_state = target;


  		




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}


  		




  ......




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void Arbiter::play_animation(boost::shared_ptr<Animation> incoming_animation) {


  		




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	// incoming animation, check if this would conflict with any pending animations:


  		




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	// lock access & iterate over vector:


  		




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	boost::mutex::scoped_lock lock_av(active_animation_vector_mutex);


  		




  
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	std::unique_lock<std::mutex> lock_av(active_animation_vector_mutex);


  		




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	active_animation_vector_t::iterator it;


  		




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	for (it = active_animation_vector.begin(); it < active_animation_vector.end(); it++) {


  		




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		boost::shared_ptr<Animation> current_ani = *it;


  		




  ......




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void Arbiter::speak(


  		




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   boost::shared_ptr<Utterance> u) { //, ao_sample_format audio_format, char *audio_data, unsigned int audio_len){


  		




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	// lock audio playback as such:


  		




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	boost::mutex::scoped_lock scoped_lock_audio(audio_player_mutex);


  		




  
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	const std::lock_guard<std::mutex> lock_audio(audio_player_mutex);


  		




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	// lock utterance & store data:


  		




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	boost::mutex::scoped_lock scoped_lock(utterance_mutex);


  		




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	utterance = u;


  		




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	scoped_lock.unlock();


  		




  
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	{


  		




  
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		// lock utterance & store data:


  		




  
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		const std::lock_guard<std::mutex> lock(utterance_mutex);


  		




  
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		utterance = u;


  		




  
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	}


  		




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	// start audio playback, this function returns once we started playback


  		




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	if (audio_player == NULL) {


  		




  ......




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	}


  		




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	// lock access


  		




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	boost::mutex::scoped_lock scoped_lock1(emotion_config_default_mutex);


  		




  
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	const std::lock_guard<std::mutex> lock1(emotion_config_default_mutex);


  		




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	// did the current emotion time out?


  		




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	if (!emotion_target->is_active()) {


  		




  ......




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void Arbiter::override_by_animation() {


  		




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	// lock access & iterate over vector:


  		




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	boost::mutex::scoped_lock lock_av(active_animation_vector_mutex);


  		




  
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	const std::lock_guard<std::mutex> lock_av(active_animation_vector_mutex);


  		




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	active_animation_vector_t::iterator it;


  		




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	for (it = active_animation_vector.begin(); it < active_animation_vector.end(); it++) {


  		




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		boost::shared_ptr<Animation> current_ani = *it;


  		












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