humotion

//! constructor

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

}

//! destructor

    float eye_tilt_now  = get_current_position(JointInterface::ID_EYES_BOTH_UD);

    // calculate left eyelid targets

    // calculate right eyelid targets

    // limit target angles

    eyelid_upper_left_target  = limit_target(JointInterface::ID_EYES_LEFT_LID_UPPER,

                                             eyelid_lower_right_target);

    // (temporarily) store the target

                                eyelid_upper_left_target, 0.0);

                                eyelid_lower_left_target, 0.0);

                                eyelid_upper_right_target, 0.0);

                                eyelid_lower_right_target, 0.0);

    // check for saccade

    check_for_saccade();

    // is there a blink request?

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

    process_saccadic_eyeblinks();

    // manual eyeblinks will ALWAYs get executed as we use

    // a negative block timeout (=timeout has already passed)

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

    }

        // nothing to do

    } else if (duration_left < 0) {

        // infinite sleep -> close

    } else {

        // timeout sleep

        start_eyeblink(LEFT, duration_left);

    }

    if (duration_right == 0) {

        // nothing to do

    } else if (duration_right < 0) {

        // infinite sleep -> close

    } else {

        // timeout sleep

        start_eyeblink(RIGHT, duration_right);

    }

}

//! process saccadic blink requests

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

void EyelidMotionGenerator::process_saccadic_eyeblinks() {

        // 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 ((std::rand()%3) == 0) {

            start_eyeblink(LEFT);

            start_eyeblink(RIGHT);

        }

    }

}

//! process periodic blink requests

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

void EyelidMotionGenerator::process_periodic_eyeblinks() {

        // calculate next timeout for a new periodic eyeblink

        int milliseconds_to_next_blink = EYEBLINK_EYERY_MS_MIN

                + (std::rand() % static_cast<int>(EYEBLINK_EYERY_MS_MAX-EYEBLINK_EYERY_MS_MIN));

                + boost::posix_time::milliseconds(milliseconds_to_next_blink);

    }

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

        start_eyeblink(LEFT);

        start_eyeblink(RIGHT);

    // take care of re-opening eye timeout

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

            }

        }

    }

    // take care of blocking time

                + boost::posix_time::milliseconds(EYEBLINK_BLOCKING_TIME);

    }

}

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

void EyelidMotionGenerator::override_lids_for_eyeblink() {

    // close the requested eyelids

        close_eyelid(JointInterface::ID_EYES_LEFT_LID_UPPER);

        close_eyelid(JointInterface::ID_EYES_LEFT_LID_LOWER);

    }

        close_eyelid(JointInterface::ID_EYES_RIGHT_LID_UPPER);

        close_eyelid(JointInterface::ID_EYES_RIGHT_LID_LOWER);

    }

    case(JointInterface::ID_EYES_LEFT_LID_UPPER):

    case(JointInterface::ID_EYES_LEFT_LID_LOWER):

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

        // overwrite last target_

        break;

    case(JointInterface::ID_EYES_RIGHT_LID_UPPER):

    case(JointInterface::ID_EYES_RIGHT_LID_LOWER):

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

        // overwrite last target_

        break;

    }

}

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

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

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

        // return if we are still in the block time

        return;

    }

    // request for n ms eyeblink:

}

//! 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:

            // this is a new saccade! restart blink timer

        }

    } else {

    }

}

void EyelidMotionGenerator::publish_targets() {

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

    if (gaze_target_input_active()) {

    }

}