void LLFloaterGesture::onClickPlay()
{
const LLUUID& item_id = mGestureList->getCurrentID();
if(item_id.isNull()) return;
LL_DEBUGS("Gesture")<<" Trying to play gesture id: "<< item_id <<LL_ENDL;
if(!LLGestureMgr::instance().isGestureActive(item_id))
{
// we need to inform server about gesture activating to be consistent with LLPreviewGesture and LLGestureComboList.
BOOL inform_server = TRUE;
BOOL deactivate_similar = FALSE;
LLGestureMgr::instance().setGestureLoadedCallback(item_id, boost::bind(&LLFloaterGesture::playGesture, this, item_id));
LLViewerInventoryItem *item = gInventory.getItem(item_id);
llassert(item);
if (item)
{
LLGestureMgr::instance().activateGestureWithAsset(item_id, item->getAssetUUID(), inform_server, deactivate_similar);
LL_DEBUGS("Gesture")<< "Activating gesture with inventory ID: " << item_id <<LL_ENDL;
}
}
else
{
playGesture(item_id);
}
}
BOOL LLGestureMgr::triggerGesture(KEY key, MASK mask)
{
std::vector <LLMultiGesture *> matching;
item_map_t::iterator it;
// collect matching gestures
for (it = mActive.begin(); it != mActive.end(); ++it)
{
LLMultiGesture* gesture = (*it).second;
// asset data might not have arrived yet
if (!gesture) continue;
if (gesture->mKey == key
&& gesture->mMask == mask)
{
matching.push_back(gesture);
}
}
// choose one and play it
if (matching.size() > 0)
{
U32 random = ll_rand(matching.size());
LLMultiGesture* gesture = matching[random];
playGesture(gesture);
return TRUE;
}
return FALSE;
}
// Convenience function that looks up the item_id for you.
void LLGestureManager::playGesture(const LLUUID& item_id)
{
item_map_t::iterator it = mActive.find(item_id);
if (it == mActive.end()) return;
LLMultiGesture* gesture = (*it).second;
if (!gesture) return;
playGesture(gesture);
}
// Function: execute sit down gesture
void GestureManager::sitDown()
{
// Activate stiffness
std_srvs::Empty empty;
stiffness_enable_client.call(empty);
// Execute sit down motion
//playGesture("stand", "gesture", "global", "sit down");
playGesture(motion_state::body_state::SIT, motion_state::motion_type::GESTURE, gesture_names::gesture_subtype::GLOBAL, gesture_names::gesture_motion_names::GLOBAL_SIT_DOWN);
// Publish body status
publishBodyStatus("sat down");
}
// Function: execute stand init gesture
void GestureManager::standInit()
{
// Activate stiffness
std_srvs::Empty empty;
stiffness_enable_client.call(empty);
// Execute stand init motion
//playGesture("stand", "gesture", "global", "stand init");
playGesture(motion_state::body_state::STAND, motion_state::motion_type::GESTURE, gesture_names::gesture_subtype::GLOBAL, gesture_names::gesture_motion_names::GLOBAL_STAND_INIT);
// Publish body status
publishBodyStatus("woke up");
}
// Convenience function that looks up the item_id for you.
void LLGestureMgr::playGesture(const LLUUID& item_id, bool local)
{
const LLUUID& base_item_id = get_linked_uuid(item_id);
item_map_t::iterator it = mActive.find(base_item_id);
if (it == mActive.end()) return;
LLMultiGesture* gesture = (*it).second;
if (!gesture) return;
playGesture(gesture);
}
// Function: execute stand up from chair gesture
void GestureManager::standFromChair()
{
// Activate stiffness
std_srvs::Empty empty;
stiffness_enable_client.call(empty);
// Execute stand chair motion
//playGesture("stand", "gesture", "global", "stand chair");
playGesture(motion_state::body_state::STAND, motion_state::motion_type::GESTURE, gesture_names::gesture_subtype::GLOBAL, gesture_names::gesture_motion_names::GLOBAL_STAND_FROM_CHAIR);
// Rest
rest();
// Wakeup
wakeUp();
}
// Function: execute sit down in chair gesture
void GestureManager::sitChairInit()
{
// Activate stiffness
std_srvs::Empty empty;
stiffness_enable_client.call(empty);
// Execute stand chair motion
playGesture(motion_state::body_state::SIT, motion_state::motion_type::GESTURE, gesture_names::gesture_subtype::GLOBAL, gesture_names::gesture_motion_names::GLOBAL_SIT_CHAIR_START_POS);
// Rest
rest();
// Disable stiffness
disableStiffness();
// Publish body status
publishBodyStatus("sat chair");
}
void GestureManager::playGestureSequence(const string body_status, const string type, const string subtype)
{
nao_gestures::GestureSequence gesture_sequence_srv;
gesture_sequence_srv.request.animation_body_status=body_status;
gesture_sequence_srv.request.animation_motion_type=type;
gesture_sequence_srv.request.animation_motion_subtype=subtype;
//ROS_INFO("Number of gestures: %ld", (long int)gesture_generator_srv.response.num);
play_gesture_sequence_client.call(gesture_sequence_srv);
for (int i = 0; i < gesture_sequence_srv.response.num; i++)
{
const string motion_name = gesture_sequence_srv.response.gestures[i];
//ROS_INFO("%d Gesture Name: %s", i, gesture_sequence_srv.response.gestures[i].c_str());
// For each gesture generated call execute motion service
playGesture(gesture_sequence_srv.request.animation_body_status, gesture_sequence_srv.request.animation_motion_type,
gesture_sequence_srv.request.animation_motion_subtype, motion_name);
}
}
// Iterates through space delimited tokens in string, triggering any gestures found.
// Generates a revised string that has the found tokens replaced by their replacement strings
// and (as a minor side effect) has multiple spaces in a row replaced by single spaces.
BOOL LLGestureMgr::triggerAndReviseString(const std::string &utf8str, std::string* revised_string)
{
std::string tokenized = utf8str;
BOOL found_gestures = FALSE;
BOOL first_token = TRUE;
typedef boost::tokenizer<boost::char_separator<char> > tokenizer;
boost::char_separator<char> sep(" ");
tokenizer tokens(tokenized, sep);
tokenizer::iterator token_iter;
for( token_iter = tokens.begin(); token_iter != tokens.end(); ++token_iter)
{
const char* cur_token = token_iter->c_str();
LLMultiGesture* gesture = NULL;
// Only pay attention to the first gesture in the string.
if( !found_gestures )
{
// collect gestures that match
std::vector <LLMultiGesture *> matching;
item_map_t::iterator it;
for (it = mActive.begin(); it != mActive.end(); ++it)
{
gesture = (*it).second;
// Gesture asset data might not have arrived yet
if (!gesture) continue;
if (LLStringUtil::compareInsensitive(gesture->mTrigger, cur_token) == 0)
{
matching.push_back(gesture);
}
gesture = NULL;
}
if (matching.size() > 0)
{
// choose one at random
{
S32 random = ll_rand(matching.size());
gesture = matching[random];
playGesture(gesture);
if (!gesture->mReplaceText.empty())
{
if( !first_token )
{
if (revised_string)
revised_string->append( " " );
}
// Don't muck with the user's capitalization if we don't have to.
if( LLStringUtil::compareInsensitive(cur_token, gesture->mReplaceText) == 0)
{
if (revised_string)
revised_string->append( cur_token );
}
else
{
if (revised_string)
revised_string->append( gesture->mReplaceText );
}
}
found_gestures = TRUE;
}
}
}
if(!gesture)
{
// This token doesn't match a gesture. Pass it through to the output.
if( !first_token )
{
if (revised_string)
revised_string->append( " " );
}
if (revised_string)
revised_string->append( cur_token );
}
first_token = FALSE;
gesture = NULL;
}
return found_gestures;
}
