Galatea Dialog Studio: Eclipse-based Java project. Migrated from CVS repository (scripts are omitted).
| リビジョン | d4dc009fdfcdcb36266e2700503ed8d705d984d6 (tree) |
|---|---|
| 日時 | 2010-10-18 15:42:27 |
| 作者 | Takuya Nishimoto <nishimoto@m.ie...> |
| コミッター | Takuya Nishimoto |
cleanup
src/galatea/agent/BehaviorManager2.java src/galatea/agentmanager/AMMCL.java src/galatea/agentmanager/GalateaBase.java| @@ -1,352 +0,0 @@ | ||
| 1 | -/* -*- Mode: java; tab-width: 8; indent-tabs-mode: nil; c-basic-offset: 4 -*- | |
| 2 | - * Galatea Behavior Manager: | |
| 3 | - * (c)2010 Takuya NISHIMOTO (nishimoto [atmark] m.ieice.org) | |
| 4 | - */ | |
| 5 | - | |
| 6 | -package galatea.agent; | |
| 7 | - | |
| 8 | -//import galatea.util.AMBuffer; | |
| 9 | -import galatea.util.Getopt; | |
| 10 | -import galatea.util.HashArray; | |
| 11 | - | |
| 12 | -import java.text.DecimalFormat; | |
| 13 | -import java.util.regex.Matcher; | |
| 14 | - | |
| 15 | -public class BehaviorManager2 extends GalateaBase | |
| 16 | -{ | |
| 17 | - java.util.Random random_; | |
| 18 | - private HashArray agents_; // map String => Agent | |
| 19 | - | |
| 20 | - private long prevTime_; | |
| 21 | - | |
| 22 | - private boolean isFsmAlive_; | |
| 23 | - private boolean useAutoMove_; | |
| 24 | - private String currAgent_; | |
| 25 | - | |
| 26 | - private Vector3D prevEyeRot_ = new Vector3D(0, 0, 0); | |
| 27 | - private Vector3D prevHeadRot_ = new Vector3D(0, 0, 0); | |
| 28 | - private Vector3D prevBodyRot_ = new Vector3D(0, 0, 0); | |
| 29 | - private Vector3D prevBodyTrans_ = new Vector3D(0, 0, 0); | |
| 30 | - private Agent prevAgent_ = null; | |
| 31 | - private double prevBodyScale_ = 0.0; | |
| 32 | - private String prevExpType_ = "NEUTRAL"; | |
| 33 | - private double prevExpLevel_ = 0.0; | |
| 34 | - | |
| 35 | - private DecimalFormat formatter_; | |
| 36 | - | |
| 37 | - public BehaviorManager2() | |
| 38 | - { | |
| 39 | - super(); | |
| 40 | - random_ = new java.util.Random(); | |
| 41 | - formatter_ = new DecimalFormat("0.000"); | |
| 42 | - | |
| 43 | - isFsmAlive_ = false; | |
| 44 | - useAutoMove_ = false; | |
| 45 | - | |
| 46 | - currAgent_ = AgentUtil.getDefaultAgent(); | |
| 47 | - agents_ = AgentUtil.loadAgents(); | |
| 48 | - } | |
| 49 | - | |
| 50 | - | |
| 51 | - private String _format(double d) | |
| 52 | - { | |
| 53 | - return formatter_.format(d); | |
| 54 | - } | |
| 55 | - | |
| 56 | - | |
| 57 | - private Agent _getCurrAgent() | |
| 58 | - { | |
| 59 | - return (Agent)agents_.get(currAgent_); | |
| 60 | - } | |
| 61 | - | |
| 62 | - | |
| 63 | - private Agent _getAgentByName(String name) | |
| 64 | - { | |
| 65 | - return (Agent)agents_.get(name); | |
| 66 | - } | |
| 67 | - | |
| 68 | - | |
| 69 | - private void _outputFaceExp() | |
| 70 | - { | |
| 71 | - Agent agent = _getCurrAgent(); | |
| 72 | - boolean maskChanged = true; | |
| 73 | - if ( agent == prevAgent_ ) { | |
| 74 | - maskChanged = false; | |
| 75 | - } | |
| 76 | - | |
| 77 | - Vector3D e = agent.getEyeRot(); | |
| 78 | - if ( maskChanged || (! e.equals(prevEyeRot_)) ) { | |
| 79 | - send("to @FSM set EyeRot = " + _format(e.x) + " " + _format(e.y) + " " + _format(e.z)); | |
| 80 | - } | |
| 81 | - | |
| 82 | - Vector3D h = agent.getHeadRot(); | |
| 83 | - if ( maskChanged || (! h.equals(prevHeadRot_)) ) { | |
| 84 | - send("to @FSM set HeadRotAbs.1 = " + _format(h.x) + " " + _format(h.y) + " " + _format(h.z)); | |
| 85 | - } | |
| 86 | - | |
| 87 | - Vector3D b = agent.getBodyRot(); | |
| 88 | - if ( maskChanged || (! b.equals(prevBodyRot_)) ) { | |
| 89 | - send("to @FSM set AgentRot = " + _format(b.x) + " " + _format(b.y) + " " + _format(b.z)); | |
| 90 | - } | |
| 91 | - | |
| 92 | - Vector3D t = agent.getBodyTrans(); | |
| 93 | - if ( maskChanged || (! t.equals(prevBodyTrans_)) ) { | |
| 94 | - send("to @FSM set AgentTrans = " + _format(t.x) + " " + _format(t.y)); | |
| 95 | - } | |
| 96 | - | |
| 97 | - double scale = agent.getBodyScale(); | |
| 98 | - if ( maskChanged | |
| 99 | - || Math.abs(scale - prevBodyScale_) > 0.01 ) { | |
| 100 | - send("to @FSM set AgentScale = " + _format(scale)); | |
| 101 | - } | |
| 102 | - | |
| 103 | - String exptype = agent.getExpType(); | |
| 104 | - double explevel = agent.getExpLevel(); | |
| 105 | - if ( maskChanged | |
| 106 | - || ! exptype.equals(prevExpType_) | |
| 107 | - || Math.abs(explevel - prevExpLevel_) > 3.0 ) { | |
| 108 | - send("to @FSM set FaceExp = " + exptype + " 1 " + _format(explevel) + " 0"); | |
| 109 | - } | |
| 110 | - | |
| 111 | - prevAgent_ = agent; | |
| 112 | - prevEyeRot_.set(e); | |
| 113 | - prevHeadRot_.set(h); | |
| 114 | - prevBodyRot_.set(b); | |
| 115 | - prevBodyTrans_.set(t); | |
| 116 | - prevBodyScale_ = scale; | |
| 117 | - prevExpType_ = exptype; | |
| 118 | - prevExpLevel_ = explevel; | |
| 119 | - } | |
| 120 | - | |
| 121 | - | |
| 122 | - private void _setupCurrMask() | |
| 123 | - { | |
| 124 | - String bg = _getCurrAgent().getBackground(); | |
| 125 | - String mask = _getCurrAgent().getMask(); | |
| 126 | - send("to @FSM set Background = " + bg); | |
| 127 | - send("to @FSM set Mask = " + mask); | |
| 128 | - _outputFaceExp(); | |
| 129 | - } | |
| 130 | - | |
| 131 | - | |
| 132 | - public void handleRep(String module, String slot, String arg) | |
| 133 | - { | |
| 134 | - if (module.equals("FSM") && slot.equals("Run") && arg.equals("LIVE")) { | |
| 135 | - isFsmAlive_ = true; | |
| 136 | - } | |
| 137 | - } | |
| 138 | - | |
| 139 | - | |
| 140 | - private void _sendFadeOut() | |
| 141 | - { | |
| 142 | - send("to @FSM set AgentEnable = DISABLE"); | |
| 143 | - } | |
| 144 | - | |
| 145 | - | |
| 146 | - private void _sendFadeIn() | |
| 147 | - { | |
| 148 | - send("to @FSM set AgentEnable = ENABLE"); | |
| 149 | - } | |
| 150 | - | |
| 151 | - | |
| 152 | - public void handleSet(String module, String slot, String arg) | |
| 153 | - { | |
| 154 | - if (slot.equals("AutoMove")) { | |
| 155 | - useAutoMove_ = (Integer.parseInt(arg) == 0) ? false : true; | |
| 156 | - if (useAutoMove_) { | |
| 157 | - _setupCurrMask(); | |
| 158 | - } | |
| 159 | - | |
| 160 | - } else if (slot.equals("AgentSpeakState")) { | |
| 161 | - _getCurrAgent().setAgentSpeakState(Integer.parseInt(arg)); | |
| 162 | - | |
| 163 | - } else if (slot.equals("Emotion")) { | |
| 164 | - Matcher matcher2 = pattern2_.matcher(arg); | |
| 165 | - if (matcher2.matches()) { | |
| 166 | - String type = matcher2.group(1); | |
| 167 | - double level = Double.parseDouble(matcher2.group(2)); | |
| 168 | - _getCurrAgent().setEmotionTarget(type, level); | |
| 169 | - } else { | |
| 170 | - _getCurrAgent().setEmotionTarget(arg); | |
| 171 | - } | |
| 172 | - } else if (slot.equals("EmotionNow")) { | |
| 173 | - Matcher matcher2 = pattern2_.matcher(arg); | |
| 174 | - if (matcher2.matches()) { | |
| 175 | - String type = matcher2.group(1); | |
| 176 | - double level = Double.parseDouble(matcher2.group(2)); | |
| 177 | - _getCurrAgent().setEmotionNow(type, level); | |
| 178 | - } else { | |
| 179 | - _getCurrAgent().setEmotionNow(arg); | |
| 180 | - } | |
| 181 | - } else if (slot.equals("Rot")) { | |
| 182 | - Matcher matcher3 = pattern3_.matcher(arg); | |
| 183 | - if (matcher3.matches()) { | |
| 184 | - double tx = Double.parseDouble(matcher3.group(1)); | |
| 185 | - double ty = Double.parseDouble(matcher3.group(2)); | |
| 186 | - double tz = Double.parseDouble(matcher3.group(3)); | |
| 187 | - _getCurrAgent().setRotTarget(tx, ty, tz); | |
| 188 | - } | |
| 189 | - } else if (slot.equals("RotNow")) { | |
| 190 | - Matcher matcher3 = pattern3_.matcher(arg); | |
| 191 | - if (matcher3.matches()) { | |
| 192 | - double tx = Double.parseDouble(matcher3.group(1)); | |
| 193 | - double ty = Double.parseDouble(matcher3.group(2)); | |
| 194 | - double tz = Double.parseDouble(matcher3.group(3)); | |
| 195 | - _getCurrAgent().setRotNow(tx, ty, tz); | |
| 196 | - } | |
| 197 | - } else if (slot.equals("Background")) { | |
| 198 | - Matcher matcher2 = pattern2_.matcher(arg); | |
| 199 | - if (matcher2.matches()) { | |
| 200 | - Agent ag = _getAgentByName(matcher2.group(1)); | |
| 201 | - ag.setBackground(matcher2.group(2)); | |
| 202 | - } | |
| 203 | - } else if (slot.equals("HeadMoveRatio")) { | |
| 204 | - Matcher matcher2 = pattern2_.matcher(arg); | |
| 205 | - if (matcher2.matches()) { | |
| 206 | - double d1 = Double.parseDouble(matcher2.group(1)); | |
| 207 | - double d2 = Double.parseDouble(matcher2.group(2)); | |
| 208 | - _getCurrAgent().setHeadMove(d1, d2); | |
| 209 | - } | |
| 210 | - } else if (slot.equals("Mask")) { | |
| 211 | - if (arg.equals("DISABLE")) { | |
| 212 | - _sendFadeOut(); | |
| 213 | - } else { | |
| 214 | - if (! arg.equals(currAgent_)) { | |
| 215 | - _sendFadeOut(); | |
| 216 | - } | |
| 217 | - currAgent_ = arg; | |
| 218 | - _setupCurrMask(); | |
| 219 | - _sendFadeIn(); | |
| 220 | - } | |
| 221 | - } else if (slot.equals("FaceMot")) { | |
| 222 | - send("to @FSM set FaceMot = " + arg); | |
| 223 | - | |
| 224 | - } else if (slot.equals("Action")) { | |
| 225 | - if (arg.equals("Thinking")) { | |
| 226 | - _getCurrAgent().setRotTarget(+0.3, 0, 0); | |
| 227 | - int v = random_.nextInt(8); | |
| 228 | - switch(v) { | |
| 229 | - case 0: | |
| 230 | - _getCurrAgent().setEyeRotNow(-5, 0, 0); // up | |
| 231 | - break; | |
| 232 | - case 1: | |
| 233 | - _getCurrAgent().setEyeRotNow(+5, 0, 0); // down | |
| 234 | - break; | |
| 235 | - case 2: | |
| 236 | - _getCurrAgent().setEyeRotNow( 0, -7, 0); // left | |
| 237 | - break; | |
| 238 | - case 3: | |
| 239 | - _getCurrAgent().setEyeRotNow( 0, +7, 0); // right | |
| 240 | - break; | |
| 241 | - case 4: | |
| 242 | - _getCurrAgent().setEyeRotNow(-4, -4, 0); // | |
| 243 | - break; | |
| 244 | - case 5: | |
| 245 | - _getCurrAgent().setEyeRotNow(-4, +4, 0); // | |
| 246 | - break; | |
| 247 | - case 6: | |
| 248 | - _getCurrAgent().setEyeRotNow(+4, -4, 0); // | |
| 249 | - break; | |
| 250 | - case 7: | |
| 251 | - _getCurrAgent().setEyeRotNow(+4, +4, 0); // | |
| 252 | - break; | |
| 253 | - } | |
| 254 | - } else if (arg.equals("InfoRequest")) { | |
| 255 | - _getCurrAgent().setRotTarget(0, 0, 0); | |
| 256 | - } else if (arg.equals("Speaking")) { | |
| 257 | - _getCurrAgent().setRotTarget(-0.5, 0, 0); | |
| 258 | - } else if (arg.equals("Busy")) { | |
| 259 | - _getCurrAgent().setRotTarget(5, 3, 0); | |
| 260 | - } else if (arg.equals("Blink")) { | |
| 261 | - send("to @FSM set FaceMot = BLINK 2"); | |
| 262 | - } | |
| 263 | - } else if (slot.equals("Nod")) { | |
| 264 | - double d = Double.parseDouble(arg); | |
| 265 | - _getCurrAgent().startNodding(d); | |
| 266 | - } else if (slot.equals("Refuse")) { | |
| 267 | - double d = Double.parseDouble(arg); | |
| 268 | - _getCurrAgent().startRefuse(d); | |
| 269 | - } else if (slot.equals("Tilt")) { | |
| 270 | - double d = Double.parseDouble(arg); | |
| 271 | - _getCurrAgent().setHeadRotTarget(0, 0, d); | |
| 272 | - } | |
| 273 | - } | |
| 274 | - | |
| 275 | - private void _iteration2() | |
| 276 | - { | |
| 277 | - if (useAutoMove_) { | |
| 278 | - long currentTime = System.currentTimeMillis(); | |
| 279 | - long delta = currentTime - prevTime_; | |
| 280 | - if (delta >= 100) { | |
| 281 | - _getCurrAgent().calc(); | |
| 282 | - _outputFaceExp(); | |
| 283 | - _getCurrAgent().addClock((double)delta / 1000.0); | |
| 284 | - prevTime_ = currentTime; | |
| 285 | - } | |
| 286 | - } | |
| 287 | - if (isFsmAlive_ == false) { | |
| 288 | - send("to @FSM inq Run"); | |
| 289 | - sleep(100); | |
| 290 | - } | |
| 291 | - } | |
| 292 | - | |
| 293 | - public void run() | |
| 294 | - { | |
| 295 | - prevTime_ = System.currentTimeMillis(); | |
| 296 | - send("rep Status.power = ON"); | |
| 297 | - while (true) { | |
| 298 | - iteration(); | |
| 299 | - _iteration2(); | |
| 300 | - } | |
| 301 | - } | |
| 302 | - | |
| 303 | - public static final String COPYRIGHT = | |
| 304 | - "(c)2003-2010 Takuya NISHIMOTO (nishimoto [atmark] m.ieice.org)\n"; | |
| 305 | - | |
| 306 | - public static void showVersion() { | |
| 307 | - System.err.println("BehaviorManager"); | |
| 308 | - System.err.println(galatea.dialog.DialogStudioVersion.TSTAMP); | |
| 309 | - System.err.print(COPYRIGHT); | |
| 310 | - System.err.println(); | |
| 311 | - } | |
| 312 | - | |
| 313 | - /** | |
| 314 | - * java -cp gdm.jar galatea.BehaviorManager2 | |
| 315 | - * | |
| 316 | - * [in] From @DM set Mask = DISABLE | |
| 317 | - * [out] to @FSM set AgentEnable = DISABLE | |
| 318 | - * | |
| 319 | - */ | |
| 320 | - public static void main(String argv[]) | |
| 321 | - { | |
| 322 | - String conf = "gdm.conf"; | |
| 323 | - | |
| 324 | - Getopt g = new Getopt("", argv, "a:c:dev"); | |
| 325 | - g.setOpterr(false); | |
| 326 | - int c; | |
| 327 | - while ((c = g.getopt()) != -1){ | |
| 328 | - switch (c) { | |
| 329 | - case 'a': | |
| 330 | - // behaviorManager._setAgentByName(g.getOptarg()); | |
| 331 | - break; | |
| 332 | - case 'c': | |
| 333 | - conf = g.getOptarg(); | |
| 334 | - break; | |
| 335 | - case 'd': | |
| 336 | - // behaviorManager._setDebugMode(true); | |
| 337 | - break; | |
| 338 | - case 'e': | |
| 339 | - // behaviorManager._setEventViewerMode(true); | |
| 340 | - break; | |
| 341 | - case 'v': | |
| 342 | - showVersion(); | |
| 343 | - break; | |
| 344 | - } | |
| 345 | - } | |
| 346 | - | |
| 347 | - AgentUtil.loadConfigFile(conf); | |
| 348 | - BehaviorManager2 behaviorManager = new BehaviorManager2(); | |
| 349 | - behaviorManager.run(); | |
| 350 | - } | |
| 351 | - | |
| 352 | -} |
| @@ -1,340 +0,0 @@ | ||
| 1 | -///* | |
| 2 | -// * $Id: AMMCL.java,v 1.2 2009/01/28 13:51:17 nishimoto Exp $ | |
| 3 | -// * Galatea AM-MCL for Java | |
| 4 | -// * by Takuya NISHIMOTO (nishimoto [atmark] m.ieice.org) | |
| 5 | -// */ | |
| 6 | -// | |
| 7 | -//package galatea.agentmanager; | |
| 8 | -// | |
| 9 | -//import galatea.agent.Agent; | |
| 10 | -//import galatea.util.HashArray; | |
| 11 | -// | |
| 12 | -//import java.util.regex.Matcher; | |
| 13 | -//import java.util.regex.Pattern; | |
| 14 | -// | |
| 15 | -//public class AMMCL extends GalateaBase | |
| 16 | -//{ | |
| 17 | -// private int state = 0; | |
| 18 | -// // | |
| 19 | -// // sequence for Speak | |
| 20 | -// // state0 : IDLE | |
| 21 | -// // state1 : wait FSM/SSM "rep Speak.stat = READY" | |
| 22 | -// // state2 : wait FSM/SSM "rep Speak.stat = IDLE" | |
| 23 | -// // | |
| 24 | -// // sequence for MouthMove | |
| 25 | -// // state0 : IDLE | |
| 26 | -// // state3 : wait FSM "rep Speak.stat = READY" | |
| 27 | -// // state4 : wait FSM "rep Speak.stat = IDLE" | |
| 28 | -// | |
| 29 | -// private boolean ready_ssm = false; | |
| 30 | -// private boolean ready_fsm = false; | |
| 31 | -// | |
| 32 | -// private HashArray agents_; | |
| 33 | -// private String currAgent_; | |
| 34 | -// | |
| 35 | -// public AMMCL() | |
| 36 | -// { | |
| 37 | -// super(); | |
| 38 | -// modulename_ = "AM-MCL"; | |
| 39 | -// debug_ = false; | |
| 40 | -// printDebug("initializing..."); | |
| 41 | -// | |
| 42 | -// agents_ = new HashArray(); | |
| 43 | -// agents_.put("man01", new Agent("man01", "male01", "bg01", 1.2)); | |
| 44 | -// agents_.put("man02", new Agent("man02", "m001", "bg02", 1.6)); | |
| 45 | -// agents_.put("woman01", new Agent("woman01", "female01", "bg03", 1.2)); | |
| 46 | -// currAgent_ = "woman01"; | |
| 47 | -// } | |
| 48 | -// | |
| 49 | -// private void _doSetSpeak(String arg) | |
| 50 | -// { | |
| 51 | -// if (arg.equals("STOP")) { | |
| 52 | -// state = 0; | |
| 53 | -// printOut("to @FSM set Speak = STOP"); | |
| 54 | -// printOut("to @SSM set Speak = STOP"); | |
| 55 | -// ready_ssm = false; | |
| 56 | -// ready_fsm = false; | |
| 57 | -// } else { | |
| 58 | -// if (state != 0) { | |
| 59 | -// // if speaking, stop automatically | |
| 60 | -// printOut("to @FSM set Speak = STOP"); | |
| 61 | -// printOut("to @SSM set Speak = STOP"); | |
| 62 | -// } | |
| 63 | -// state = 1; | |
| 64 | -// printOut("to @FSM prop Speak.stat = AutoOutput"); | |
| 65 | -// printOut("to @SSM prop Speak.stat = AutoOutput"); | |
| 66 | -// printOut("to @SSM prop Speak.pho = AutoOutput"); | |
| 67 | -// printOut("to @SSM set Text = " + arg); | |
| 68 | -// ready_ssm = false; | |
| 69 | -// ready_fsm = false; | |
| 70 | -// } | |
| 71 | -// } | |
| 72 | -// | |
| 73 | -// private void _doSetMask(String arg) | |
| 74 | -// { | |
| 75 | -// Pattern pat1 = Pattern.compile("^(\\S+)\\s+(\\S+)\\s+(\\S+)\\s+(\\S+)\\s+(\\S+)\\s+(\\S+)$"); | |
| 76 | -// Matcher m1 = pat1.matcher(arg); | |
| 77 | -// if (m1.matches()) { | |
| 78 | -// printOut("to @FS-MCL set Mask = " + m1.group(1)); | |
| 79 | -// printOut("to @FS-MCL set EmotionNow = " | |
| 80 | -// + m1.group(2) + " " + m1.group(3)); | |
| 81 | -// printOut("to @FS-MCL set RotNow = " | |
| 82 | -// + m1.group(4) + " " + m1.group(5) + " " + m1.group(6)); | |
| 83 | -// if (!currAgent_.equals(m1.group(1))) { | |
| 84 | -// currAgent_ = m1.group(1); | |
| 85 | -// } | |
| 86 | -// } | |
| 87 | -// } | |
| 88 | -// | |
| 89 | -// private void _doSet(String slot, String arg) | |
| 90 | -// { | |
| 91 | -// if (slot.equals("Speak")) { | |
| 92 | -// _doSetSpeak(arg); | |
| 93 | -// } else if (slot.equals("Mask")) { | |
| 94 | -// _doSetMask(arg); | |
| 95 | -// } | |
| 96 | -// } | |
| 97 | -// | |
| 98 | -// private void _acceptFromState1(String mod, String str) | |
| 99 | -// { | |
| 100 | -// } | |
| 101 | -//} | |
| 102 | -// | |
| 103 | -///* | |
| 104 | -// def do_set_mask(arg) | |
| 105 | -// case arg | |
| 106 | -// when /(\S+)\s+(\S+)\s+(\S+)\s+(\S+)\s+(\S+)\s+(\S+)/ | |
| 107 | -// printOut( "to @FS-MCL set Mask = #{$1}" | |
| 108 | -// printOut( "to @FS-MCL set EmotionNow = #{$2} #{$3}" | |
| 109 | -// printOut( "to @FS-MCL set RotNow = #{$4} #{$5} #{$6}" | |
| 110 | -// if self.curr_agent != $1 | |
| 111 | -// self.curr_agent = $1 | |
| 112 | -// printOut( "to @SSM set Speaker = #{curr_speaker}" | |
| 113 | -// end | |
| 114 | -// set_emotion $2, $3.to_f | |
| 115 | -// when /(\S+)\s+(\S+)\s+([0-9\.\+\-]+)/ | |
| 116 | -// if self.curr_agent != $1 | |
| 117 | -// self.curr_agent = $1 | |
| 118 | -// printOut( "to @SSM set Speaker = #{curr_speaker}" | |
| 119 | -// end | |
| 120 | -// set_emotion $2, $3.to_f | |
| 121 | -// printOut( "to @FS-MCL set Mask = #{$1}" | |
| 122 | -// printOut( "to @FS-MCL set EmotionNow = #{$2} #{$3}" | |
| 123 | -// when /(\S+)\s+(\S+)/ | |
| 124 | -// if self.curr_agent != $1 | |
| 125 | -// self.curr_agent = $1 | |
| 126 | -// printOut( "to @SSM set Speaker = #{curr_speaker}" | |
| 127 | -// end | |
| 128 | -// set_emotion $2 | |
| 129 | -// printOut( "to @FS-MCL set Mask = #{$1}" | |
| 130 | -// printOut( "to @FS-MCL set EmotionNow = #{$2}" | |
| 131 | -// when /(\S+)/ | |
| 132 | -// if self.curr_agent != $1 | |
| 133 | -// self.curr_agent = $1 | |
| 134 | -// printOut( "to @SSM set Speaker = #{curr_speaker}" | |
| 135 | -// end | |
| 136 | -// printOut( "to @FS-MCL set Mask = #{$1}" | |
| 137 | -// end | |
| 138 | -// end | |
| 139 | -// | |
| 140 | -// | |
| 141 | -// def set_emotion(type, level=90, duration=0) | |
| 142 | -// # duration is not used | |
| 143 | -//=begin | |
| 144 | -// @mutex.synchronize do | |
| 145 | -// @agents[@curr_agent].set_emotion(type, level) | |
| 146 | -// end | |
| 147 | -//=end | |
| 148 | -// self.agents[self.curr_agent].set_emotion(type, level) | |
| 149 | -// end | |
| 150 | -// | |
| 151 | -// | |
| 152 | -// def do_set_emotion(arg) | |
| 153 | -// printOut( "to @FS-MCL set Emotion = #{arg}" | |
| 154 | -// case arg | |
| 155 | -// when /(.+)\s+([0-9\.\+\-]+)\s+([0-9\.\+\-]+)/ | |
| 156 | -// set_emotion($1, $2.to_f, $3.to_f) | |
| 157 | -// when /(.+)\s+([0-9\.\+\-]+)/ | |
| 158 | -// set_emotion($1, $2.to_f) | |
| 159 | -// when /(.+)/ | |
| 160 | -// set_emotion($1) | |
| 161 | -// end | |
| 162 | -// end | |
| 163 | -// | |
| 164 | -// | |
| 165 | -// def set_speak_speed(arg) | |
| 166 | -// self.agents[self.curr_agent].ssmspeed = arg.to_f | |
| 167 | -// end | |
| 168 | -// | |
| 169 | -// | |
| 170 | -// def do_set(slot, arg) | |
| 171 | -// super | |
| 172 | -// case slot | |
| 173 | -// when "Speak" | |
| 174 | -// do_set_speak(arg) | |
| 175 | -// when "MoveMouth" | |
| 176 | -// do_set_move_mouth(arg) | |
| 177 | -// when "SpeakSpeed" | |
| 178 | -// set_speak_speed(arg) | |
| 179 | -// when "AutoMove" | |
| 180 | -// printOut( "to @FS-MCL set AutoMove = #{arg}" | |
| 181 | -// when "AutoGaze" | |
| 182 | -// printOut( "to @DIM set AutoGaze = #{arg}" | |
| 183 | -// when "Mask" | |
| 184 | -// do_set_mask(arg) | |
| 185 | -// when "Emotion" | |
| 186 | -// do_set_emotion(arg) | |
| 187 | -// when "AutoEmotionSpeak" | |
| 188 | -// self.auto_emotion_speak = arg.to_i | |
| 189 | -// end | |
| 190 | -// end | |
| 191 | -// | |
| 192 | -// | |
| 193 | -// def accept_from_state0(mod, str) | |
| 194 | -// end | |
| 195 | -// | |
| 196 | -// | |
| 197 | -// def accept_from_state1(mod, str) | |
| 198 | -// # waiting responce of "@SSM set Text = value" | |
| 199 | -// case mod | |
| 200 | -// when "SSM" | |
| 201 | -// case str | |
| 202 | -// when /rep\s+Speak\.pho\s*=\s*(.*)$/ | |
| 203 | -// phones = $1 | |
| 204 | -// phones.gsub!( /\[/, " " ) | |
| 205 | -// phones.gsub!( /\]/, "" ) | |
| 206 | -// # sil 10 k 100 o 85 N 90 n 25 i 60 ch 105 i 50 w 50 a 95 sil 10 | |
| 207 | -// printDebug phones | |
| 208 | -//# printOut( "to @FSM prop Speak.stat = AutoOutput" | |
| 209 | -// printOut( "to @FSM set LipSync.pho = #{phones}" | |
| 210 | -// printOut( "to @FSM inq Speak.stat" | |
| 211 | -// printDebug "state: #{self.state} speak.pho ready" | |
| 212 | -// when /rep\s+Speak\.stat\s*=\s*READY\s*$/ | |
| 213 | -// self.ready_ssm = true | |
| 214 | -// printDebug "state: #{self.state} ready_ssm" | |
| 215 | -// when /rep\s+Speak\.stat\s*=\s*ERROR\s*$/ | |
| 216 | -// self.state = 0 | |
| 217 | -// sendAgentSpeakState | |
| 218 | -// self.ready_ssm = false | |
| 219 | -// self.ready_fsm = false | |
| 220 | -// printDebug "state: #{self.state}" | |
| 221 | -// end | |
| 222 | -// when "FSM" | |
| 223 | -// case str | |
| 224 | -// when /rep\s+Speak\.stat\s*=\s*READY\s*$/ | |
| 225 | -// self.ready_fsm = true | |
| 226 | -// printDebug "state: #{self.state} ready_fsm" | |
| 227 | -// when /rep\s+Speak\.stat\s*=\s*ERROR\s*$/ | |
| 228 | -// self.state = 0 | |
| 229 | -// sendAgentSpeakState | |
| 230 | -// self.ready_ssm = false | |
| 231 | -// self.ready_fsm = false | |
| 232 | -// printDebug "state: #{self.state}" | |
| 233 | -// end | |
| 234 | -// end | |
| 235 | -// | |
| 236 | -// if self.ready_fsm && self.ready_ssm | |
| 237 | -// self.state = 2 | |
| 238 | -// sendAgentSpeakState | |
| 239 | -// # printOut( "to @SSM set Save = _speech.raw" | |
| 240 | -// # printOut( "to @SSM set SpeechFile = _speech.raw" | |
| 241 | -// # $ play -t .sw -x -r 16000 ../../SSM/_speech.raw | |
| 242 | -// | |
| 243 | -//# printOut( "to @SSM set Speak = +100" # for SSMclient.rb | |
| 244 | -// printOut( "to @SSM set Speak = +0" # | |
| 245 | -// | |
| 246 | -// printOut( "to @FSM set Speak = + 0" | |
| 247 | -// printDebug "state: #{self.state} Speak start" | |
| 248 | -// end | |
| 249 | -// end | |
| 250 | -// | |
| 251 | -// | |
| 252 | -// def accept_from_state2(mod, str) | |
| 253 | -// # | |
| 254 | -// if mod == "SSM" && /rep\s+Speak\.stat\s*=\s*IDLE\s*$/ =~ str | |
| 255 | -// self.ready_ssm = false | |
| 256 | -// # printDebug "state: #{self.state} ready_ssm = false" | |
| 257 | -// | |
| 258 | -// elsif mod == "FSM" && /rep\s+Speak\.stat\s*=\s*IDLE\s*$/ =~ str | |
| 259 | -// self.ready_fsm = false | |
| 260 | -// # printDebug "state: #{self.state} ready_fsm = false" | |
| 261 | -// | |
| 262 | -// end | |
| 263 | -// | |
| 264 | -// if self.ready_fsm == false && self.ready_ssm == false | |
| 265 | -// self.state = 0 | |
| 266 | -// printDebug "state: #{self.state} Speak end" | |
| 267 | -// sendAgentSpeakState | |
| 268 | -// end | |
| 269 | -// end | |
| 270 | -// | |
| 271 | -// | |
| 272 | -// def accept_from_state3(mod, str) | |
| 273 | -// if mod == "FSM" && /rep\s+Speak\.stat\s*=\s*READY\s*$/ =~ str | |
| 274 | -// self.state = 4 | |
| 275 | -// sendAgentSpeakState | |
| 276 | -// self.ready_ssm = false | |
| 277 | -// self.ready_fsm = true | |
| 278 | -// printDebug "state: #{self.state} ready_fsm" | |
| 279 | -// printOut( "to @FSM set Speak = + 0" | |
| 280 | -// printDebug "state: #{self.state} Speak start" | |
| 281 | -// | |
| 282 | -// elsif mod == "FSM" && /rep\s+Speak\.stat\s*=\s*ERROR\s*$/ =~ str | |
| 283 | -// self.state = 0 | |
| 284 | -// sendAgentSpeakState | |
| 285 | -// self.ready_ssm = false | |
| 286 | -// self.ready_fsm = false | |
| 287 | -// printDebug "state: #{self.state}" | |
| 288 | -// end | |
| 289 | -// end | |
| 290 | -// | |
| 291 | -// | |
| 292 | -// def accept_from_state4(mod, str) | |
| 293 | -// if mod == "FSM" && /rep\s+Speak\.stat\s*=\s*IDLE\s*$/ =~ str | |
| 294 | -// self.state = 0 | |
| 295 | -// printDebug "state: #{self.state} Speak end" | |
| 296 | -// self.ready_fsm = false | |
| 297 | -// sendAgentSpeakState | |
| 298 | -// end | |
| 299 | -// end | |
| 300 | -// | |
| 301 | -// | |
| 302 | -// def accept_from(mod, str) | |
| 303 | -// | |
| 304 | -// # | |
| 305 | -// # From @XXX set YYY = ZZZ を to @AM-MCL と見なして do_set で処理 | |
| 306 | -// # | |
| 307 | -// if /^\s*set\s+([^\s=]*)\s*=\s*(.*)$/ =~ str | |
| 308 | -// do_set $1, $2 | |
| 309 | -// return | |
| 310 | -// end | |
| 311 | -// | |
| 312 | -// # | |
| 313 | -// # lipsync | |
| 314 | -// # | |
| 315 | -// | |
| 316 | -// case self.state | |
| 317 | -// when 1 | |
| 318 | -// accept_from_state1(mod, str) | |
| 319 | -// when 2 | |
| 320 | -// accept_from_state2(mod, str) | |
| 321 | -// when 3 | |
| 322 | -// accept_from_state3(mod, str) | |
| 323 | -// when 4 | |
| 324 | -// accept_from_state4(mod, str) | |
| 325 | -// end | |
| 326 | -// | |
| 327 | -// end | |
| 328 | -// | |
| 329 | -// def accept_to(mod, str) | |
| 330 | -// printOut( "to @MON set SysLogText = #{str}" | |
| 331 | -// end | |
| 332 | -// | |
| 333 | -//end | |
| 334 | -// | |
| 335 | -//# ------------------------------ | |
| 336 | -// | |
| 337 | -//AM_MCL.new.run | |
| 338 | -// | |
| 339 | -//# end of file | |
| 340 | -//*/ |
| @@ -1,158 +0,0 @@ | ||
| 1 | -///* | |
| 2 | -// * $Id: GalateaBase.java,v 1.2 2009/01/28 13:51:17 nishimoto Exp $ | |
| 3 | -// * | |
| 4 | -// * Galatea Submodule base class | |
| 5 | -// * by Takuya NISHIMOTO (nishimoto [atmark] m.ieice.org) | |
| 6 | -// */ | |
| 7 | -// | |
| 8 | -//package galatea.agentmanager; | |
| 9 | -// | |
| 10 | -//import galatea.util.AMBuffer; | |
| 11 | -//import galatea.util.StringHashArray; | |
| 12 | -//import galatea.util.Util; | |
| 13 | -// | |
| 14 | -//import java.util.regex.*; | |
| 15 | -//import java.nio.charset.Charset; | |
| 16 | -//import java.text.DecimalFormat; | |
| 17 | -// | |
| 18 | -// | |
| 19 | -//public class GalateaBase | |
| 20 | -//{ | |
| 21 | -// protected String modulename_; | |
| 22 | -// protected boolean debug_ = false; | |
| 23 | -// protected StringHashArray myslot_; | |
| 24 | -// protected StringHashArray myprop_; | |
| 25 | -// | |
| 26 | -// private AMBuffer ambuf_; | |
| 27 | -// private DecimalFormat intFormatter_ = new DecimalFormat("0"); | |
| 28 | -//// private DecimalFormat doubleFormatter_ = new DecimalFormat("0.000"); | |
| 29 | -// | |
| 30 | -// public GalateaBase() | |
| 31 | -// { | |
| 32 | -// ambuf_ = new AMBuffer(Util.getSystemDefaultCharset()); | |
| 33 | -// modulename_ = "GalateaBase"; | |
| 34 | -// myslot_ = new StringHashArray(); | |
| 35 | -// myslot_.set("Run","DEAD"); | |
| 36 | -// myslot_.set("ProtocolVersion", "ProtocolVersion 1.0"); | |
| 37 | -// myslot_.set("ModuleVersion", "ModuleVersion 1.0"); | |
| 38 | -// myprop_ = new StringHashArray(); | |
| 39 | -// } | |
| 40 | -// | |
| 41 | -// private String _format(int i) | |
| 42 | -// { | |
| 43 | -// return intFormatter_.format(i); | |
| 44 | -// } | |
| 45 | -// | |
| 46 | -//// private String _format(double d) | |
| 47 | -//// { | |
| 48 | -//// return doubleFormatter_.format(d); | |
| 49 | -//// } | |
| 50 | -// | |
| 51 | -// public void sendSet(String mod, String slot, String str) | |
| 52 | -// { | |
| 53 | -// String s = "to @" + mod + " set " + slot + " = " + str; | |
| 54 | -// ambuf_.send(s); | |
| 55 | -// } | |
| 56 | -// | |
| 57 | -// public void sendSet(String mod, String slot, int num) | |
| 58 | -// { | |
| 59 | -// String s = "to @" + mod + " set " + slot + " = " + _format(num); | |
| 60 | -// ambuf_.send(s); | |
| 61 | -// } | |
| 62 | -// | |
| 63 | -// public void printOut(String str) | |
| 64 | -// { | |
| 65 | -// ambuf_.send(str); | |
| 66 | -// } | |
| 67 | -// | |
| 68 | -// public void printDebug(String str) | |
| 69 | -// { | |
| 70 | -// if (debug_) { | |
| 71 | -// System.err.println(str); | |
| 72 | -// System.err.flush(); | |
| 73 | -// } | |
| 74 | -// } | |
| 75 | -// | |
| 76 | -// public void printTell(String str) | |
| 77 | -// { | |
| 78 | -// ambuf_.send("tell " + str); | |
| 79 | -// } | |
| 80 | -// | |
| 81 | -// public void printRep(String str) | |
| 82 | -// { | |
| 83 | -// ambuf_.send("rep " + str); | |
| 84 | -// } | |
| 85 | -// | |
| 86 | -// public void doSet(String slot, String arg) | |
| 87 | -// { | |
| 88 | -// // overrided | |
| 89 | -// } | |
| 90 | -// | |
| 91 | -// public void doProp(String prop, String arg) | |
| 92 | -// { | |
| 93 | -// // overrided | |
| 94 | -// } | |
| 95 | -// | |
| 96 | -// public void acceptFrom(String mod, String str) | |
| 97 | -// { | |
| 98 | -// // overrided | |
| 99 | -// } | |
| 100 | -// | |
| 101 | -// public void acceptTo(String mod, String str) | |
| 102 | -// { | |
| 103 | -// // overrided | |
| 104 | -// } | |
| 105 | -// | |
| 106 | -// public void run() | |
| 107 | -// { | |
| 108 | -// Pattern p1 = Pattern.compile("^\\s*set\\s+([^\\s=]*)\\s*=\\s*(.*)$"); | |
| 109 | -// Pattern p2 = Pattern.compile("^\\s*prop\\s+([^\\s=]*)\\s*=\\s*(.*)$"); | |
| 110 | -// Pattern p3 = Pattern.compile("^\\s*inq\\s+(.*)$"); | |
| 111 | -// Pattern p4 = Pattern.compile("^\\s*From\\s+\\@(\\S+)\\s(.*)$"); | |
| 112 | -// Pattern p5 = Pattern.compile("^\\s*to\\s+\\@(\\S+)\\s(.*)$"); | |
| 113 | -// Matcher m; | |
| 114 | -// while (true) { | |
| 115 | -// String s; | |
| 116 | -// while ((s = ambuf_.receive()).length() > 0) { | |
| 117 | -// if ((m = p1.matcher(s)).matches()) { | |
| 118 | -// myslot_.set(m.group(1), m.group(2)); | |
| 119 | -// doSet(m.group(1), m.group(2)); | |
| 120 | -// if (m.group(1).equals("Run")) { | |
| 121 | -// if (m.group(2).equals("INIT")) { | |
| 122 | -// myslot_.set("Run", "LIVE"); | |
| 123 | -// } else if (m.group(2).equals("EXIT")) { | |
| 124 | -// myslot_.set("Run", "DEAD"); | |
| 125 | -// } | |
| 126 | -// } | |
| 127 | -// } else if ((m = p2.matcher(s)).matches()) { | |
| 128 | -// myprop_.set(m.group(1), m.group(2)); | |
| 129 | -// doProp(m.group(1), m.group(2)); | |
| 130 | -// } else if ((m = p3.matcher(s)).matches()) { | |
| 131 | -// printRep(m.group(1) + " = " + myslot_.get(m.group(1))); | |
| 132 | -// } else if ((m = p4.matcher(s)).matches()) { | |
| 133 | -// acceptFrom(m.group(1), m.group(2)); | |
| 134 | -// } else if ((m = p5.matcher(s)).matches()) { | |
| 135 | -// acceptTo(m.group(1), m.group(2)); | |
| 136 | -// } | |
| 137 | -// } | |
| 138 | -// try { | |
| 139 | -// Thread.sleep(0,1); | |
| 140 | -// } catch (Exception e) { | |
| 141 | -// e.printStackTrace(); | |
| 142 | -// } | |
| 143 | -// } | |
| 144 | -// } | |
| 145 | -// | |
| 146 | -// | |
| 147 | -// /** | |
| 148 | -// * java -cp classes galatea.GalateaBase | |
| 149 | -// */ | |
| 150 | -// public static void main(String argv[]) | |
| 151 | -// { | |
| 152 | -// GalateaBase gb = new GalateaBase(); | |
| 153 | -// gb.run(); | |
| 154 | -// } | |
| 155 | -// | |
| 156 | -//} | |
| 157 | -// | |
| 158 | -///* end of file */ |
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