/ - Diff - hlrc - Research for Cognitive Interaction

     #include "RobotController.h"
     #include "RobotGaze.h"
     #include <unistd.h>
     #include <thread>
     #include <chrono>
     float rand_float(float min, float max){
         float f = (float)rand() / RAND_MAX;
-...
+    		}
             robot_controller->set_gaze_target(gaze);
     		usleep(1000/50 * 1000 );
+        }
             std::this_thread::sleep_for(std::chrono::milliseconds(1000/50));
+        }
+    }

     */
     #include "RobotController.h"
     #include <unistd.h>
     #include <thread>
     #include <chrono>
     #define BLOCKING true
-...
         printf("> speech test starting.\n");
         robot_controller->set_speak("i will start counting now.\n", BLOCKING);
         robot_controller->set_speak("I will start counting now.\n", BLOCKING);
         while(1){
             std::string text = std::to_string(count++);
             printf("> saying '%s'\n",text.c_str());
             robot_controller->set_speak(text, BLOCKING);
             sleep(1);
             std::this_thread::sleep_for(std::chrono::seconds(1));
+        }
+    }

server/src/Arbiter.cpp
144	144
145	145	//block until ani was played back
146	146	while(incoming_animation->is_active()){
147		//printf("A"); fflush(stdout);
148		usleep(1*1000); //1ms, save cpu cycles
	147	std::this_thread::sleep_for(std::chrono::milliseconds(1));//save cpu cycles
149	148	}
150	149
151	150	//ok, it finished. we can safely remove it now:
...	...
183	182	if (audio_player != NULL){
184	183	while(audio_player->is_playing()){
185	184	//save some cpu cycles:
186		usleep(1*1000); //1ms
	185	std::this_thread::sleep_for(std::chrono::milliseconds(1)); //1ms
187	186	}
188	187	}
189	188
...	...
191	190	//so check now if the utterance finished as well:
192	191	while (utterance->is_playing()){
193	192	//save some cpu cycles:
194		usleep(1*1000); //1ms
	193	std::this_thread::sleep_for(std::chrono::milliseconds(1));
195	194	}
196	195
197	196	}

     */
     #include "AudioPlayer.h"
     #include <thread>
     #include <chrono>
     using namespace std;
-...
         while(playback_state != CLOSED){
             printf("> waiting for end of audio playback\n");
             usleep(1000);
             std::this_thread::sleep_for(std::chrono::milliseconds(1));
+        }
+    }

     */
     #include "AudioPlayerLibAO.h"
     #include <thread>
     #include <chrono>
     using namespace std;
     using namespace boost;
     //new audio player with gievn device type (default is pulse)
     AudioPlayerLibAO::AudioPlayerLibAO(string driver): AudioPlayer(driver){
-...
         //check if we can play this file:
         while(playback_state != IDLE){
             printf("> player not ready yet, waiting for 10ms\n");
             usleep(10*1000);
             std::this_thread::sleep_for(std::chrono::milliseconds(10));
+        }
         audio_format = extract_ao_format(audio_data);
-...
         //wait for playback to start:
         printf("> waiting for playback start...\n");
         while(playback_requested){
             usleep(1*1000);
             std::this_thread::sleep_for(std::chrono::milliseconds(1));
+        }
         printf("> playback running.\n");
+    }
-...
+            }
             //1ms delay to safe cpu time
             usleep(1000);
             std::this_thread::sleep_for(std::chrono::milliseconds(1));
+        }
         //shutdown audio!

         //check if we can play this file:
         while(playback_state != IDLE){
             printf("> player not ready yet, waiting for 10ms\n");
             usleep(10*1000);
             std::this_thread::sleep_for(std::chrono::milliseconds(10));
+        }
         //ok, we can play the audio. copy/setup data:
-...
+                    }
                     //add some delay to meet the delay until playback starts (FIXME: this should be determined!)
                     //usleep(100*1000); //100ms
                     //std::this_thread::sleep_for(std::chrono::milliseconds(100));
                     //ok we can now play the data
                     printf("> AudioPlayer: playback started\n");
-...
+            }
             //1ms delay to safe cpu time
             usleep(1000);
             std::this_thread::sleep_for(std::chrono::milliseconds(1));
+        }
         //done

hlrc