void TouchEventRegister<T>::touchCallback(std::string &key, qi::AnyValue &value, qi::AnyValue &message)
{
T msg = T();
bool state = value.toFloat() > 0.5f;
//std::cerr << key << " " << state << std::endl;
touchCallbackMessage(key, state, msg);
std::vector<message_actions::MessageAction> actions;
boost::mutex::scoped_lock callback_lock(mutex_);
if (isStarted_) {
// CHECK FOR PUBLISH
if ( isPublishing_ && publisher_->isSubscribed() )
{
actions.push_back(message_actions::PUBLISH);
}
// CHECK FOR RECORD
if ( isRecording_ )
{
//actions.push_back(message_actions::RECORD);
}
if ( !isDumping_ )
{
//actions.push_back(message_actions::LOG);
}
if (actions.size() >0)
{
converter_->callAll( actions, msg );
}
}
}
~per_thread_index()
{
if (id_ >= 0)
{
std::lock_guard<std::mutex> callback_lock(callback_mutex_);
thread_start_callbacks_.erase(id_);
thread_finish_callbacks_.erase(id_);
}
std::lock_guard<std::mutex> index_lock(index_mutex_);
for (ssize_t counter = index_size_ - 1;
counter >= 0;
--counter)
{
if (index_[counter] != NULL)
{
delete index_[counter];
index_[counter] = NULL;
}
}
delete [] index_;
index_ = NULL;
}
static void thread_finish()
{
std::lock_guard<std::mutex> callback_lock(callback_mutex_);
for (per_thread_index_callback_map::iterator itr =
thread_finish_callbacks_.begin();
itr != thread_finish_callbacks_.end();
++itr)
{
(itr->second)();
}
thread_set_.erase(get_tenum());
}
void PeopleEventRegister<T>::peopleCallback(std::string &key, qi::AnyValue &value, qi::AnyValue &message)
{
T msg = T();
tools::NaoqiFaceDetected faces;
try {
faces = tools::fromAnyValueToNaoqiFaceDetected(value);
}
catch(std::runtime_error& e)
{
std::cout << "Cannot retrieve facedetect" << std::endl;
return;
}
if ( faces.face_info.size() > 0 ) { // sometimes value does not have face information..
peopleCallbackMessage(key, faces, msg);
}
std::vector<message_actions::MessageAction> actions;
boost::mutex::scoped_lock callback_lock(mutex_);
if (isStarted_) {
// CHECK FOR PUBLISH
if ( isPublishing_ && publisher_->isSubscribed() )
{
actions.push_back(message_actions::PUBLISH);
}
// CHECK FOR RECORD
if ( isRecording_ )
{
//actions.push_back(message_actions::RECORD);
}
if ( !isDumping_ )
{
//actions.push_back(message_actions::LOG);
}
if (actions.size() >0)
{
converter_->callAll( actions, msg );
}
}
}
void AudioEventRegister::processRemote(int nbOfChannels, int samplesByChannel, qi::AnyValue altimestamp, qi::AnyValue buffer)
{
naoqi_bridge_msgs::AudioBuffer msg = naoqi_bridge_msgs::AudioBuffer();
msg.header.stamp = ros::Time::now();
msg.frequency = 48000;
msg.channelMap = channelMap;
std::pair<char*, size_t> buffer_pointer = buffer.asRaw();
int16_t* remoteBuffer = (int16_t*)buffer_pointer.first;
int bufferSize = nbOfChannels * samplesByChannel;
msg.data = std::vector<int16_t>(remoteBuffer, remoteBuffer+bufferSize);
std::vector<message_actions::MessageAction> actions;
boost::mutex::scoped_lock callback_lock(processing_mutex_);
if (isStarted_) {
// CHECK FOR PUBLISH
if ( isPublishing_ && publisher_->isSubscribed() )
{
actions.push_back(message_actions::PUBLISH);
}
// CHECK FOR RECORD
if ( isRecording_ )
{
actions.push_back(message_actions::RECORD);
}
if ( !isDumping_ )
{
actions.push_back(message_actions::LOG);
}
if (actions.size() >0)
{
converter_->callAll( actions, msg );
}
}
}
per_thread_index() :
id_(__sync_add_and_fetch(&index_id_, 1)),
index_size_(default_index_size)
{
index_ = new T*[index_size_];
memset(index_, 0, sizeof(T*) * index_size_);
std::lock_guard<std::mutex> callback_lock(callback_mutex_);
thread_start_callbacks_.insert(
std::make_pair(
id_, std::bind(&per_thread_index<T>::on_thread_start, this)));
thread_finish_callbacks_.insert(
std::make_pair(
id_, std::bind(&per_thread_index<T>::on_thread_finish, this)));
for (std::set<tenum_t>::iterator itr =
thread_set_.begin();
itr != thread_set_.end();
++itr)
{
do_on_thread_start(*itr, NULL);
}
}
static void init()
{
std::lock_guard<std::mutex> callback_lock(callback_mutex_);
thread_set_.insert(0);
}
