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.

*/

#pragma once

#include "eye_motion_generator.h"

#include "boost/date_time/posix_time/posix_time.hpp"

#include <boost/thread/thread_time.hpp>

namespace humotion{

namespace server{

class EyelidMotionGenerator : public EyeMotionGenerator{

public:

    EyelidMotionGenerator(JointInterface *j);

    ~EyelidMotionGenerator();

    void calculate_targets();

    void publish_targets();

private:

    bool saccade_blink_active;

    bool saccade_blink_requested;

    enum SIDE_ID{

        LEFT = 0,

        RIGHT,

        SIDE_ID_SIZE

    };

    bool eyeblink_active[SIDE_ID_SIZE];

    bool eyelid_closed[SIDE_ID_SIZE];

    void start_external_eyeblinks(int duration_left, int duration_right);

    void process_saccadic_eyeblinks();

    void process_periodic_eyeblinks();

    void handle_eyeblink_timeout();

    void override_lids_for_eyeblink();

    void check_for_saccade();

    void start_eyeblink(int side, int duration=EYEBLINK_DURATION_MS);

    void close_eyelid(int joint_id);

    static const float SACCADE_SPEED_THRESHOLD;

    static const float EYEBLINK_DURATION_MS;

    static const float EYEBLINK_EYERY_MS_MIN;

    static const float EYEBLINK_EYERY_MS_MAX;

    static const float EYEBLINK_BLOCKING_TIME;

    boost::system_time periodic_blink_start_time;

    boost::system_time eyeblink_timeout[SIDE_ID_SIZE];

    boost::system_time eyeblink_blocked_timeout;

};

}

}