Revision efbcb710 server/src/Arbiter.cpp
| server/src/Arbiter.cpp | ||
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using namespace boost; |
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using namespace std; |
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Arbiter::Arbiter(std::string audio_output){
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//initialize audio player: |
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if (iequals(audio_output, "none")){
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| ... | ... | |
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emotion_config_current.set_duration(2000); |
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emotion_config_default.init_neutral(); |
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gaze_state_animation_restart = true; |
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emotion_target = &emotion_config_default; |
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utterance = boost::shared_ptr<Utterance>(new Utterance()); |
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} |
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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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emotion_target = &emotion_config_default; |
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gaze_state_animation_restart = true; |
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printf("> stored default emotion\n");
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} |
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emotion_config_current.select_config(e.value); |
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emotion_config_current.set_duration(e.duration); |
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emotion_target = &emotion_config_current; |
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gaze_state_animation_restart = true; |
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printf("> stored current emotion (val=%d, duration = %dms)\n",e.value, e.duration);
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} |
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} |
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void Arbiter::override_by_emotion(){
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if (emotion_target == NULL) {
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return; |
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} |
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//lock access |
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mutex::scoped_lock scoped_lock1(emotion_config_default_mutex); |
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mutex::scoped_lock scoped_lock2(emotion_config_current_mutex); |
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EmotionConfig *emotion_target = &emotion_config_default; |
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//which emotion is active? |
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if (emotion_config_current.is_active()){
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//current emotion is not timed out, override default |
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emotion_target = &emotion_config_current; |
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// did the current emotion time out? |
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if (!emotion_target->is_active()){
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// revert to default: |
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emotion_target = &emotion_config_default; |
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// trigger soft fade |
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gaze_state_animation_restart = true; |
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} |
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//emotions will set the mouth state here (will be overwritten by speak) |
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mouth_state = emotion_target->mouth_override; |
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//mouth_state = ... |
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//emotions will add an offset to the gaze state: |
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//pan,tilt,roll will be overwritten by override_by_gaze() we only keep the offset values from this! |
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//FIXME: change to eyelid opening upper/lower once humotion supports it |
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//eyebrow angles come from this |
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gaze_state = emotion_target->gaze_override; |
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humotion::GazeState gaze_state_target = emotion_target->gaze_override; |
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// apply a soft overblending to the new gaze target |
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gaze_state = soft_overblend_gaze(gaze_state, gaze_state_target, emotion_target->overblend_time_ms); |
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//gaze_state.dump(); |
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//IMPORTANT: clear request from emotion target: |
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emotion_target->gaze_override.eyeblink_request_left = 0; |
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emotion_target->gaze_override.eyeblink_request_right = 0; |
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} |
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humotion::GazeState Arbiter::soft_overblend_gaze(humotion::GazeState gaze_now, |
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humotion::GazeState gaze_target, |
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unsigned int overblend_time) {
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humotion::GazeState result = gaze_now; |
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result.eyeblink_request_left = 0; |
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result.eyeblink_request_right = 0; |
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if (gaze_state_animation_restart) {
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// new incoming target, set up soft fade: |
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gaze_state_old = gaze_state; |
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gaze_state_end_time = get_system_time() + boost::posix_time::milliseconds(overblend_time); |
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gaze_state_animation_restart = false; |
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} |
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// do smooth overblend, all targets should be reached at gaze_state_end_time |
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boost::posix_time::time_duration tdiff = gaze_state_end_time - get_system_time(); |
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if (tdiff.is_negative()) {
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// animation is done, exit now |
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return result; |
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} else {
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// do smooth animation |
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double diff_ms = tdiff.total_milliseconds(); |
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double tp = 1.0 - diff_ms / static_cast<double>(overblend_time); |
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result.pan_offset = gaze_state_old.pan_offset + tp * (gaze_target.pan_offset - gaze_state_old.pan_offset); |
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result.tilt_offset = gaze_state_old.tilt_offset + tp * (gaze_target.tilt_offset - gaze_state_old.tilt_offset); |
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result.roll_offset = gaze_state_old.roll_offset + tp * (gaze_target.roll_offset - gaze_state_old.roll_offset); |
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result.eyelid_opening_lower = gaze_state_old.eyelid_opening_lower + tp * (gaze_target.eyelid_opening_lower - gaze_state_old.eyelid_opening_lower); |
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result.eyelid_opening_upper = gaze_state_old.eyelid_opening_upper + tp * (gaze_target.eyelid_opening_upper - gaze_state_old.eyelid_opening_upper); |
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result.eyebrow_left = gaze_state_old.eyebrow_left + tp * (gaze_target.eyebrow_left - gaze_state_old.eyebrow_left); |
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result.eyebrow_right = gaze_state_old.eyebrow_right + tp * (gaze_target.eyebrow_right - gaze_state_old.eyebrow_right); |
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} |
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return result; |
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} |
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