humotion

/*

* This file is part of humotion

*

* Copyright(c) sschulz <AT> techfak.uni-bielefeld.de

* http://opensource.cit-ec.de/projects/humotion

*

* This file may be licensed under the terms of the

* GNU Lesser General Public License Version 3 (the ``LGPL''),

* or (at your option) any later version.

*

* Software distributed under the License is distributed

* on an ``AS IS'' basis, WITHOUT WARRANTY OF ANY KIND, either

* express or implied. See the LGPL for the specific language

* governing rights and limitations.

*

* You should have received a copy of the LGPL along with this

* program. If not, go to http://www.gnu.org/licenses/lgpl.html

* or write to the Free Software Foundation, Inc.,

* 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.

*

* The development of this software was supported by the

* Excellence Cluster EXC 277 Cognitive Interaction Technology.

* The Excellence Cluster EXC 277 is a grant of the Deutsche

* Forschungsgemeinschaft (DFG) in the context of the German

* Excellence Initiative.

*/

#include "server/eyelid_motion_generator.h"

#include "server/server.h"

using namespace boost;

using namespace std;

using namespace humotion;

using namespace humotion::server;

//saccade detection threshold in deg/s

const float EyelidMotionGenerator::SACCADE_SPEED_THRESHOLD = 15.0; //deg/s

//eyeblink duration:

const float EyelidMotionGenerator::EYEBLINK_DURATION_MS    = 150.0;//ms

//periodic eyeblinks: every 2..10s:

const float EyelidMotionGenerator::EYEBLINK_EYERY_MS_MIN =  2000.0; //ms

const float EyelidMotionGenerator::EYEBLINK_EYERY_MS_MAX = 10000.0; //ms

//how many seconds do we block further blinks after each eyeblink?

const float EyelidMotionGenerator::EYEBLINK_BLOCKING_TIME = 1000.0; //ms

//! constructor

EyelidMotionGenerator::EyelidMotionGenerator(JointInterface *j) : EyeMotionGenerator(j){

    saccade_blink_active = false;

    saccade_blink_requested = false;

    eyelid_closed[LEFT] = false;

    eyelid_closed[RIGHT] = false;

    eyeblink_blocked_timeout = get_system_time();

}

//! destructor

EyelidMotionGenerator::~EyelidMotionGenerator(){

}

//! calculate joint targets

//! \TODO: make up motion twice as slow as down motion

void EyelidMotionGenerator::calculate_targets(){

    //printf("> humotion: calculating eyelid targets\n");

    //fetch current angles:

    float eye_tilt_now  = get_current_position(JointInterface::ID_EYES_BOTH_UD);

    //calculate left eyelid targets:

    float eyelid_upper_left_target = eye_tilt_now + requested_gaze_state.eyelid_opening_upper;

    float eyelid_lower_left_target = eye_tilt_now - requested_gaze_state.eyelid_opening_lower;

    //calculate right eyelid targets:

    float eyelid_upper_right_target = eye_tilt_now + requested_gaze_state.eyelid_opening_upper;

    float eyelid_lower_right_target = eye_tilt_now - requested_gaze_state.eyelid_opening_lower;

    //limit target angles:

    eyelid_upper_left_target  = limit_target(JointInterface::ID_EYES_LEFT_LID_UPPER,  eyelid_upper_left_target);

    eyelid_lower_left_target  = limit_target(JointInterface::ID_EYES_LEFT_LID_LOWER,  eyelid_lower_left_target);

    eyelid_upper_right_target = limit_target(JointInterface::ID_EYES_RIGHT_LID_UPPER,  eyelid_upper_right_target);

    eyelid_lower_right_target = limit_target(JointInterface::ID_EYES_RIGHT_LID_LOWER,  eyelid_lower_right_target);

    //(temporarily) store the target

    joint_interface->set_target_position(JointInterface::ID_EYES_LEFT_LID_UPPER,  eyelid_upper_left_target);

    joint_interface->set_target_position(JointInterface::ID_EYES_LEFT_LID_LOWER,  eyelid_lower_left_target);

    joint_interface->set_target_position(JointInterface::ID_EYES_RIGHT_LID_UPPER,  eyelid_upper_right_target);

    joint_interface->set_target_position(JointInterface::ID_EYES_RIGHT_LID_LOWER,  eyelid_lower_right_target);

    //check for saccade

    check_for_saccade();

    //is there a blink request?

    start_external_eyeblinks(requested_gaze_state.eyeblink_request_left, requested_gaze_state.eyeblink_request_right);

    //do we have a saccade & do we want to exec an eyeblink?

    process_saccadic_eyeblinks();

    //execute for periodic eyeblinks every ? ms

    process_periodic_eyeblinks();

    //close eyes again after a given timeout

    handle_eyeblink_timeout();

    //eyeblinks override position target (if necessary)

    override_lids_for_eyeblink();

}

//! process any external blink requests

void EyelidMotionGenerator::start_external_eyeblinks(int duration_left, int duration_right){

    //manual eyeblinks will ALWAYs get executed as we use a negative block timeout (=timout has already passed)

    if ((duration_left != 0) || (duration_right != 0)){

        eyeblink_blocked_timeout = get_system_time() - posix_time::seconds(100);

    }

    if (duration_left == 0){

        //nothing to do

    }else if (duration_left < 0){

        //infinite sleep -> close

        eyelid_closed[LEFT] = true;

    }else{

        //timeout sleep

        start_eyeblink(LEFT, duration_left);

        eyelid_closed[LEFT] = false;

    }

    if (duration_right == 0){

        //nothing to do

    }else if (duration_right < 0){

        //infinite sleep -> close

        eyelid_closed[RIGHT] = true;

    }else{

        //timeout sleep

        start_eyeblink(RIGHT, duration_right);

        eyelid_closed[RIGHT] = false;

    }

}

//! process saccadic blink requests

//! -> when we do a saccade, the chances to blink are much higher

void EyelidMotionGenerator::process_saccadic_eyeblinks(){

    if (saccade_blink_requested){

        //every n-th's saccade requests an eyeblink

        //here: use 0.3 even though humans use bigger prob value (but that looks stupid on robot)

        if ((rand()%3) == 0){

            ///printf("> saccadic eyeblink:\n");

            start_eyeblink(LEFT);

            start_eyeblink(RIGHT);

        }

        saccade_blink_requested = false;

    }

}

//! process periodic blink requests

//! -> we want to have an eyeblink every n...m seconds

void EyelidMotionGenerator::process_periodic_eyeblinks(){

    if((eyeblink_active[LEFT]) || eyeblink_active[RIGHT]){

        //calculate next timeout for a new periodic eyeblink

        int milliseconds_to_next_blink = EYEBLINK_EYERY_MS_MIN + (rand()%(int)(EYEBLINK_EYERY_MS_MAX-EYEBLINK_EYERY_MS_MIN));

        periodic_blink_start_time = get_system_time() +   posix_time::milliseconds(milliseconds_to_next_blink);

    }

    if (get_system_time() > periodic_blink_start_time){

        ///printf("> periodic eyeblink:\n");

        start_eyeblink(LEFT);

        start_eyeblink(RIGHT);

    }

}

//! handle eyeblink timeouts.

//! this function will actually re-open the eyes after a predefined time

void EyelidMotionGenerator::handle_eyeblink_timeout(){

    boost::system_time now = get_system_time();

    //take care of re-opening eye timeout:

    for(int i=LEFT; i<=RIGHT; i++){

        if (eyeblink_active[i]){

            if (now >= eyeblink_timeout[i]){

                eyeblink_active[i] = false;

            }

        }

    }

    //take care of blocking time

    if (eyeblink_active[LEFT] || eyeblink_active[RIGHT]){

        eyeblink_blocked_timeout = get_system_time() + posix_time::milliseconds(EYEBLINK_BLOCKING_TIME);

    }

}

//! override eyelid positions

//! this will override (=close) the eyelids for all possible eyeblink requests

void EyelidMotionGenerator::override_lids_for_eyeblink(){

    //close the requested eyelids

    if (eyeblink_active[LEFT] || eyelid_closed[LEFT]){

        close_eyelid(JointInterface::ID_EYES_LEFT_LID_UPPER);

        close_eyelid(JointInterface::ID_EYES_LEFT_LID_LOWER);

    }

    if(eyeblink_active[RIGHT] || eyelid_closed[RIGHT]){

        close_eyelid(JointInterface::ID_EYES_RIGHT_LID_UPPER);

        close_eyelid(JointInterface::ID_EYES_RIGHT_LID_LOWER);

    }

}

//! overwrite the intermediate target to close the given eyelid:

void EyelidMotionGenerator::close_eyelid(int joint_id){

    float value = 0.0;

    //set upper to minimal allowed value (=as closed as possible) + a small offset

    //set lower to the same value (instead of max) in order to avoid collisions

    switch(joint_id){

    default:

        //no eyelid -> return

        return;

    case(JointInterface::ID_EYES_LEFT_LID_UPPER):

    case(JointInterface::ID_EYES_LEFT_LID_LOWER):

        //use the upper value + 10 deg as close state:

        value = joint_interface->get_joint_min(JointInterface::ID_EYES_LEFT_LID_UPPER) + 10.0;

        //overwrite last target_

        joint_interface->set_target_position(joint_id, value);

        break;

    case(JointInterface::ID_EYES_RIGHT_LID_UPPER):

    case(JointInterface::ID_EYES_RIGHT_LID_LOWER):

        //use the upper value + 10 deg as close state:

        value = joint_interface->get_joint_min(JointInterface::ID_EYES_RIGHT_LID_UPPER) + 10.0;

        //overwrite last target_

        joint_interface->set_target_position(joint_id, value);

        break;

    }

}

//! start an eyeblink request

//! this will actually set a flag and a timeout for reopening the given eyelid pair again

//! \param int id of side (LEFT or RIGHT)

void EyelidMotionGenerator::start_eyeblink(int side, int duration){

    //cout << "BLOCKED UNTIL " << eyeblink_blocked_timeout << "\n";

    if (get_system_time() < eyeblink_blocked_timeout){

        //return if we are still in the block time

        return;

    }

    //request for n ms eyeblink:

    eyeblink_timeout[side] = get_system_time() + posix_time::milliseconds(duration);

    eyeblink_active[side] = true;

}

//! check if there is an ongoing saccade:

void EyelidMotionGenerator::check_for_saccade(){

    if (get_eye_saccade_active()){

        //this is a saccade, check if not already in saccade:

        if (!saccade_blink_active){

            //this is a new saccade! restart blink timer

            saccade_blink_requested = true;

            saccade_blink_active = true;

        }

    }else{

        saccade_blink_active = false;

    }

}

//! publish targets to motor boards:

void EyelidMotionGenerator::publish_targets(){

    //publish values if there is an active gaze input within the last timerange

    if (gaze_target_input_active()){

        joint_interface->publish_target_position(JointInterface::ID_EYES_LEFT_LID_UPPER);

        joint_interface->publish_target_position(JointInterface::ID_EYES_LEFT_LID_LOWER);

        joint_interface->publish_target_position(JointInterface::ID_EYES_RIGHT_LID_UPPER);

        joint_interface->publish_target_position(JointInterface::ID_EYES_RIGHT_LID_LOWER);

    }

}