From 9f0563e3c7450b309da7c4fb2004e9435e09a6d5 Mon Sep 17 00:00:00 2001
From: Aleksandar Taranovic <ataranovic@iri.upc.edu>
Date: Wed, 11 Oct 2017 13:06:15 +0200
Subject: [PATCH] Setting difficulty params based on emotion.
---
iri_difficulty_levels/CMakeLists.txt | 100 +++++++++++++
.../cfg/DifficultyLevels.cfg | 43 ++++++
.../include/difficulty_levels_alg.h | 131 ++++++++++++++++++
.../include/difficulty_levels_alg_node.h | 122 ++++++++++++++++
iri_difficulty_levels/package.xml | 52 +++++++
.../scripts/difficulty_level.py | 40 ++++++
.../src/difficulty_levels_alg.cpp | 23 +++
.../src/difficulty_levels_alg_node.cpp | 61 ++++++++
8 files changed, 572 insertions(+)
create mode 100644 iri_difficulty_levels/CMakeLists.txt
create mode 100755 iri_difficulty_levels/cfg/DifficultyLevels.cfg
create mode 100644 iri_difficulty_levels/include/difficulty_levels_alg.h
create mode 100644 iri_difficulty_levels/include/difficulty_levels_alg_node.h
create mode 100644 iri_difficulty_levels/package.xml
create mode 100755 iri_difficulty_levels/scripts/difficulty_level.py
create mode 100644 iri_difficulty_levels/src/difficulty_levels_alg.cpp
create mode 100644 iri_difficulty_levels/src/difficulty_levels_alg_node.cpp
diff --git a/iri_difficulty_levels/CMakeLists.txt b/iri_difficulty_levels/CMakeLists.txt
new file mode 100644
index 0000000..5dfdb53
--- /dev/null
+++ b/iri_difficulty_levels/CMakeLists.txt
@@ -0,0 +1,100 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(iri_difficulty_levels)
+
+## Find catkin macros and libraries
+find_package(catkin REQUIRED)
+# ********************************************************************
+# Add catkin additional components here
+# ********************************************************************
+find_package(catkin REQUIRED COMPONENTS iri_base_algorithm)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+# ********************************************************************
+# Add system and labrobotica dependencies here
+# ********************************************************************
+# find_package(<dependency> REQUIRED)
+
+# ********************************************************************
+# Add topic, service and action definition here
+# ********************************************************************
+## Generate messages in the 'msg' folder
+# add_message_files(
+# FILES
+# Message1.msg
+# Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+# FILES
+# Service1.srv
+# Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+# FILES
+# Action1.action
+# Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+# DEPENDENCIES
+# std_msgs # Or other packages containing msgs
+# )
+
+# ********************************************************************
+# Add the dynamic reconfigure file
+# ********************************************************************
+generate_dynamic_reconfigure_options(cfg/DifficultyLevels.cfg)
+
+# ********************************************************************
+# Add run time dependencies here
+# ********************************************************************
+catkin_package(
+# INCLUDE_DIRS
+# LIBRARIES
+# ********************************************************************
+# Add ROS and IRI ROS run time dependencies
+# ********************************************************************
+ CATKIN_DEPENDS iri_base_algorithm
+# ********************************************************************
+# Add system and labrobotica run time dependencies here
+# ********************************************************************
+# DEPENDS
+)
+
+###########
+## Build ##
+###########
+
+# ********************************************************************
+# Add the include directories
+# ********************************************************************
+include_directories(include)
+include_directories(${catkin_INCLUDE_DIRS})
+# include_directories(${<dependency>_INCLUDE_DIR})
+
+## Declare a cpp library
+# add_library(${PROJECT_NAME} <list of source files>)
+
+## Declare a cpp executable
+add_executable(${PROJECT_NAME} src/difficulty_levels_alg.cpp src/difficulty_levels_alg_node.cpp)
+
+# ********************************************************************
+# Add the libraries
+# ********************************************************************
+target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES})
+# target_link_libraries(${PROJECT_NAME} ${<dependency>_LIBRARY})
+
+# ********************************************************************
+# Add message headers dependencies
+# ********************************************************************
+# add_dependencies(${PROJECT_NAME} <msg_package_name>_generate_messages_cpp)
+# ********************************************************************
+# Add dynamic reconfigure dependencies
+# ********************************************************************
+add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS})
diff --git a/iri_difficulty_levels/cfg/DifficultyLevels.cfg b/iri_difficulty_levels/cfg/DifficultyLevels.cfg
new file mode 100755
index 0000000..051b6f6
--- /dev/null
+++ b/iri_difficulty_levels/cfg/DifficultyLevels.cfg
@@ -0,0 +1,43 @@
+#! /usr/bin/env python
+#* All rights reserved.
+#*
+#* Redistribution and use in source and binary forms, with or without
+#* modification, are permitted provided that the following conditions
+#* are met:
+#*
+#* * Redistributions of source code must retain the above copyright
+#* notice, this list of conditions and the following disclaimer.
+#* * Redistributions in binary form must reproduce the above
+#* copyright notice, this list of conditions and the following
+#* disclaimer in the documentation and/or other materials provided
+#* with the distribution.
+#* * Neither the name of the Willow Garage nor the names of its
+#* contributors may be used to endorse or promote products derived
+#* from this software without specific prior written permission.
+#*
+#* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+#* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+#* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+#* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+#* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+#* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+#* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+#* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+#* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+#* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+#* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+#* POSSIBILITY OF SUCH DAMAGE.
+#***********************************************************
+
+# Author:
+
+PACKAGE='iri_difficulty_levels'
+
+from dynamic_reconfigure.parameter_generator_catkin import *
+
+gen = ParameterGenerator()
+
+# Name Type Reconfiguration level Description Default Min Max
+#gen.add("velocity_scale_factor", double_t, 0, "Maximum velocity scale factor", 0.5, 0.0, 1.0)
+
+exit(gen.generate(PACKAGE, "DifficultyLevelsAlgorithm", "DifficultyLevels"))
diff --git a/iri_difficulty_levels/include/difficulty_levels_alg.h b/iri_difficulty_levels/include/difficulty_levels_alg.h
new file mode 100644
index 0000000..267b629
--- /dev/null
+++ b/iri_difficulty_levels/include/difficulty_levels_alg.h
@@ -0,0 +1,131 @@
+// Copyright (C) 2010-2011 Institut de Robotica i Informatica Industrial, CSIC-UPC.
+// Author
+// All rights reserved.
+//
+// This file is part of iri-ros-pkg
+// iri-ros-pkg is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
+//
+// IMPORTANT NOTE: This code has been generated through a script from the
+// iri_ros_scripts. Please do NOT delete any comments to guarantee the correctness
+// of the scripts. ROS topics can be easly add by using those scripts. Please
+// refer to the IRI wiki page for more information:
+// http://wikiri.upc.es/index.php/Robotics_Lab
+
+#ifndef _difficulty_levels_alg_h_
+#define _difficulty_levels_alg_h_
+
+#include <iri_difficulty_levels/DifficultyLevelsConfig.h>
+
+//include difficulty_levels_alg main library
+
+/**
+ * \brief IRI ROS Specific Driver Class
+ *
+ *
+ */
+class DifficultyLevelsAlgorithm
+{
+ protected:
+ /**
+ * \brief define config type
+ *
+ * Define a Config type with the DifficultyLevelsConfig. All driver implementations
+ * will then use the same variable type Config.
+ */
+ pthread_mutex_t access_;
+
+ // private attributes and methods
+
+ public:
+ /**
+ * \brief define config type
+ *
+ * Define a Config type with the DifficultyLevelsConfig. All driver implementations
+ * will then use the same variable type Config.
+ */
+ typedef iri_difficulty_levels::DifficultyLevelsConfig Config;
+
+ /**
+ * \brief config variable
+ *
+ * This variable has all the driver parameters defined in the cfg config file.
+ * Is updated everytime function config_update() is called.
+ */
+ Config config_;
+
+ /**
+ * \brief constructor
+ *
+ * In this constructor parameters related to the specific driver can be
+ * initalized. Those parameters can be also set in the openDriver() function.
+ * Attributes from the main node driver class IriBaseDriver such as loop_rate,
+ * may be also overload here.
+ */
+ DifficultyLevelsAlgorithm(void);
+
+ /**
+ * \brief Lock Algorithm
+ *
+ * Locks access to the Algorithm class
+ */
+ void lock(void) { pthread_mutex_lock(&this->access_); };
+
+ /**
+ * \brief Unlock Algorithm
+ *
+ * Unlocks access to the Algorithm class
+ */
+ void unlock(void) { pthread_mutex_unlock(&this->access_); };
+
+ /**
+ * \brief Tries Access to Algorithm
+ *
+ * Tries access to Algorithm
+ *
+ * \return true if the lock was adquired, false otherwise
+ */
+ bool try_enter(void)
+ {
+ if(pthread_mutex_trylock(&this->access_)==0)
+ return true;
+ else
+ return false;
+ };
+
+ /**
+ * \brief config update
+ *
+ * In this function the driver parameters must be updated with the input
+ * config variable. Then the new configuration state will be stored in the
+ * Config attribute.
+ *
+ * \param new_cfg the new driver configuration state
+ *
+ * \param level level in which the update is taken place
+ */
+ void config_update(Config& config, uint32_t level=0);
+
+ // here define all difficulty_levels_alg interface methods to retrieve and set
+ // the driver parameters
+
+ /**
+ * \brief Destructor
+ *
+ * This destructor is called when the object is about to be destroyed.
+ *
+ */
+ ~DifficultyLevelsAlgorithm(void);
+};
+
+#endif
diff --git a/iri_difficulty_levels/include/difficulty_levels_alg_node.h b/iri_difficulty_levels/include/difficulty_levels_alg_node.h
new file mode 100644
index 0000000..81350c0
--- /dev/null
+++ b/iri_difficulty_levels/include/difficulty_levels_alg_node.h
@@ -0,0 +1,122 @@
+// Copyright (C) 2010-2011 Institut de Robotica i Informatica Industrial, CSIC-UPC.
+// Author
+// All rights reserved.
+//
+// This file is part of iri-ros-pkg
+// iri-ros-pkg is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
+//
+// IMPORTANT NOTE: This code has been generated through a script from the
+// iri_ros_scripts. Please do NOT delete any comments to guarantee the correctness
+// of the scripts. ROS topics can be easly add by using those scripts. Please
+// refer to the IRI wiki page for more information:
+// http://wikiri.upc.es/index.php/Robotics_Lab
+
+#ifndef _difficulty_levels_alg_node_h_
+#define _difficulty_levels_alg_node_h_
+
+#include <iri_base_algorithm/iri_base_algorithm.h>
+#include "difficulty_levels_alg.h"
+
+// [publisher subscriber headers]
+
+// [service client headers]
+
+// [action server client headers]
+
+/**
+ * \brief IRI ROS Specific Algorithm Class
+ *
+ */
+class DifficultyLevelsAlgNode : public algorithm_base::IriBaseAlgorithm<DifficultyLevelsAlgorithm>
+{
+ private:
+ // [publisher attributes]
+
+ // [subscriber attributes]
+
+ // [service attributes]
+
+ // [client attributes]
+
+ // [action server attributes]
+
+ // [action client attributes]
+
+ /**
+ * \brief config variable
+ *
+ * This variable has all the driver parameters defined in the cfg config file.
+ * Is updated everytime function config_update() is called.
+ */
+ Config config_;
+ public:
+ /**
+ * \brief Constructor
+ *
+ * This constructor initializes specific class attributes and all ROS
+ * communications variables to enable message exchange.
+ */
+ DifficultyLevelsAlgNode(void);
+
+ /**
+ * \brief Destructor
+ *
+ * This destructor frees all necessary dynamic memory allocated within this
+ * this class.
+ */
+ ~DifficultyLevelsAlgNode(void);
+
+ protected:
+ /**
+ * \brief main node thread
+ *
+ * This is the main thread node function. Code written here will be executed
+ * in every node loop while the algorithm is on running state. Loop frequency
+ * can be tuned by modifying loop_rate attribute.
+ *
+ * Here data related to the process loop or to ROS topics (mainly data structs
+ * related to the MSG and SRV files) must be updated. ROS publisher objects
+ * must publish their data in this process. ROS client servers may also
+ * request data to the corresponding server topics.
+ */
+ void mainNodeThread(void);
+
+ /**
+ * \brief dynamic reconfigure server callback
+ *
+ * This method is called whenever a new configuration is received through
+ * the dynamic reconfigure. The derivated generic algorithm class must
+ * implement it.
+ *
+ * \param config an object with new configuration from all algorithm
+ * parameters defined in the config file.
+ * \param level integer referring the level in which the configuration
+ * has been changed.
+ */
+ void node_config_update(Config &config, uint32_t level);
+
+ /**
+ * \brief node add diagnostics
+ *
+ * In this abstract function additional ROS diagnostics applied to the
+ * specific algorithms may be added.
+ */
+ void addNodeDiagnostics(void);
+
+ // [diagnostic functions]
+
+ // [test functions]
+};
+
+#endif
diff --git a/iri_difficulty_levels/package.xml b/iri_difficulty_levels/package.xml
new file mode 100644
index 0000000..771ad1f
--- /dev/null
+++ b/iri_difficulty_levels/package.xml
@@ -0,0 +1,52 @@
+<?xml version="1.0"?>
+<package>
+ <name>iri_difficulty_levels</name>
+ <version>0.0.0</version>
+ <description>The iri_difficulty_levels package</description>
+
+ <!-- One maintainer tag required, multiple allowed, one person per tag -->
+ <!-- Example: -->
+ <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+ <maintainer email="aleksandar@todo.todo">aleksandar</maintainer>
+
+
+ <!-- One license tag required, multiple allowed, one license per tag -->
+ <!-- Commonly used license strings: -->
+ <!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+ <license>LGPL</license>
+
+
+ <!-- Url tags are optional, but multiple are allowed, one per tag -->
+ <!-- Optional attribute type can be: website, bugtracker, or repository -->
+ <!-- Example: -->
+ <!-- <url type="website">http://wiki.ros.org/iri_difficulty_levels</url> -->
+
+
+ <!-- Author tags are optional, multiple are allowed, one per tag -->
+ <!-- Authors do not have to be maintainers, but could be -->
+ <!-- Example: -->
+ <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+
+
+ <!-- The *_depend tags are used to specify dependencies -->
+ <!-- Dependencies can be catkin packages or system dependencies -->
+ <!-- Examples: -->
+ <!-- Use build_depend for packages you need at compile time: -->
+ <!-- <build_depend>message_generation</build_depend> -->
+ <!-- Use buildtool_depend for build tool packages: -->
+ <!-- <buildtool_depend>catkin</buildtool_depend> -->
+ <!-- Use run_depend for packages you need at runtime: -->
+ <!-- <run_depend>message_runtime</run_depend> -->
+ <!-- Use test_depend for packages you need only for testing: -->
+ <!-- <test_depend>gtest</test_depend> -->
+ <buildtool_depend>catkin</buildtool_depend>
+ <build_depend>iri_base_algorithm</build_depend>
+ <run_depend>iri_base_algorithm</run_depend>
+
+
+ <!-- The export tag contains other, unspecified, tags -->
+ <export>
+ <!-- Other tools can request additional information be placed here -->
+
+ </export>
+</package>
diff --git a/iri_difficulty_levels/scripts/difficulty_level.py b/iri_difficulty_levels/scripts/difficulty_level.py
new file mode 100755
index 0000000..36f9864
--- /dev/null
+++ b/iri_difficulty_levels/scripts/difficulty_level.py
@@ -0,0 +1,40 @@
+#!/usr/bin/env python
+
+import rospy
+
+from std_msgs.msg import String, Float32MultiArray,MultiArrayLayout, MultiArrayDimension
+import numpy as np
+
+def emotion_callback(data):
+
+ dominant_emotion = np.argmax(data.data)
+
+ if(dominant_emotion==4):
+ difficulty = 1
+ elif(dominant_emotion==3):
+ difficulty = 2
+ elif(dominant_emotion==0):
+ difficulty = 3
+ elif(dominant_emotion==1):
+ difficulty = 4
+ else:
+ difficulty = 5
+
+ rospy.set_param('difficulty_level', difficulty)
+
+
+
+def difficulty_level():
+
+ rospy.init_node('difficulty_level')
+
+ sub = rospy.Subscriber('emotions', Float32MultiArray, emotion_callback)
+
+ rospy.spin()
+
+
+if __name__ == '__main__':
+ try:
+ difficulty_level()
+ except rospy.ROSInterruptException:
+ pass
diff --git a/iri_difficulty_levels/src/difficulty_levels_alg.cpp b/iri_difficulty_levels/src/difficulty_levels_alg.cpp
new file mode 100644
index 0000000..1d32ff5
--- /dev/null
+++ b/iri_difficulty_levels/src/difficulty_levels_alg.cpp
@@ -0,0 +1,23 @@
+#include "difficulty_levels_alg.h"
+
+DifficultyLevelsAlgorithm::DifficultyLevelsAlgorithm(void)
+{
+ pthread_mutex_init(&this->access_,NULL);
+}
+
+DifficultyLevelsAlgorithm::~DifficultyLevelsAlgorithm(void)
+{
+ pthread_mutex_destroy(&this->access_);
+}
+
+void DifficultyLevelsAlgorithm::config_update(Config& config, uint32_t level)
+{
+ this->lock();
+
+ // save the current configuration
+ this->config_=config;
+
+ this->unlock();
+}
+
+// DifficultyLevelsAlgorithm Public API
diff --git a/iri_difficulty_levels/src/difficulty_levels_alg_node.cpp b/iri_difficulty_levels/src/difficulty_levels_alg_node.cpp
new file mode 100644
index 0000000..0532110
--- /dev/null
+++ b/iri_difficulty_levels/src/difficulty_levels_alg_node.cpp
@@ -0,0 +1,61 @@
+#include "difficulty_levels_alg_node.h"
+
+DifficultyLevelsAlgNode::DifficultyLevelsAlgNode(void) :
+ algorithm_base::IriBaseAlgorithm<DifficultyLevelsAlgorithm>()
+{
+ //init class attributes if necessary
+ //this->loop_rate_ = 2;//in [Hz]
+
+ // [init publishers]
+
+ // [init subscribers]
+
+ // [init services]
+
+ // [init clients]
+
+ // [init action servers]
+
+ // [init action clients]
+}
+
+DifficultyLevelsAlgNode::~DifficultyLevelsAlgNode(void)
+{
+ // [free dynamic memory]
+}
+
+void DifficultyLevelsAlgNode::mainNodeThread(void)
+{
+ // [fill msg structures]
+
+ // [fill srv structure and make request to the server]
+
+ // [fill action structure and make request to the action server]
+
+ // [publish messages]
+}
+
+/* [subscriber callbacks] */
+
+/* [service callbacks] */
+
+/* [action callbacks] */
+
+/* [action requests] */
+
+void DifficultyLevelsAlgNode::node_config_update(Config &config, uint32_t level)
+{
+ this->alg_.lock();
+ this->config_=config;
+ this->alg_.unlock();
+}
+
+void DifficultyLevelsAlgNode::addNodeDiagnostics(void)
+{
+}
+
+/* main function */
+int main(int argc,char *argv[])
+{
+ return algorithm_base::main<DifficultyLevelsAlgNode>(argc, argv, "difficulty_levels_alg_node");
+}
--
GitLab