/ - Diff - hlrc - Research for Cognitive Interaction

client/cpp/examples/random_gaze/main.cpp
28	28
29	29	#include "RobotController.h"
30	30	#include "RobotGaze.h"
31		#include <unistd.h>
	31	#include <thread>
	32	#include <chrono>
32	33
33	34	float rand_float(float min, float max) {
34	35	float f = (float)rand() / RAND_MAX;
...	...
68	69	}
69	70
70	71	robot_controller->set_gaze_target(gaze);
71		usleep(1000 / 50 * 1000);
	72	std::this_thread::sleep_for(std::chrono::milliseconds(1000 / 50));
72	73	}
73	74	}

      */
     #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
147	147
148	148	// block until ani was played back
149	149	while (incoming_animation->is_active()) {
150		// printf("A"); fflush(stdout);
151		usleep(1 * 1000); // 1ms, save cpu cycles
	150	std::this_thread::sleep_for(std::chrono::milliseconds(1)); // save cpu cycles
152	151	}
153	152
154	153	// ok, it finished. we can safely remove it now:
...	...
189	188	if (audio_player != NULL) {
190	189	while (audio_player->is_playing()) {
191	190	// save some cpu cycles:
192		usleep(1 * 1000); // 1ms
	191	std::this_thread::sleep_for(std::chrono::milliseconds(1)); // 1ms
193	192	}
194	193	}
195	194
...	...
197	196	// so check now if the utterance finished as well:
198	197	while (utterance->is_playing()) {
199	198	// save some cpu cycles:
200		usleep(1 * 1000); // 1ms
	199	std::this_thread::sleep_for(std::chrono::milliseconds(1));
201	200	}
202	201	}
203	202

      */
     #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