/**
*
* Version : $Id$
* This file was generated by Aldebaran Robotics ModuleGenerator
*/
#include "onfacedetection.h"
#include <alvalue/alvalue.h>
#include <alcommon/alproxy.h>
#include <alcommon/albroker.h>
#include <althread/alcriticalsection.h>
#include <qi/log.hpp>
OnFaceDetection::OnFaceDetection(
boost::shared_ptr<AL::ALBroker> broker,
const std::string& name):
AL::ALModule(broker, name),
fMemoryProxy(getParentBroker()),
fFaces(AL::ALValue()),
fFacesCount(0),
fCallbackMutex(AL::ALMutex::createALMutex())
{
setModuleDescription("This is an autogenerated module, this descriptio needs to be updated.");
functionName("callback", getName(), "");
BIND_METHOD(OnFaceDetection::callback)
}
OnFaceDetection::~OnFaceDetection() {}
void OnFaceDetection::init() {
try {
/** See if there is any face already detected at initialization. */
fFaces = fMemoryProxy.getData("FaceDetected");
if (fFaces.getSize() < 2) {
qiLogInfo("module.example") << "No face detected" << std::endl;
fTtsProxy.say("No face detected");
}
/** Subscribe to the event FaceDetected, with appropriate callback function. */
fMemoryProxy.subscribeToEvent("FaceDetected", "OnFaceDetection", "callback");
}
catch (const AL::ALError& e) {
qiLogError("module.name") << e.what() << std::endl;
}
}
void OnFaceDetection::callback() {
/** Use a mutex to make it all thread safe. */
AL::ALCriticalSection section(fCallbackMutex);
try {
/** Retrieve the data raised by the event. */
fFaces = fMemoryProxy.getData("FaceDetected");
/** Check that there are faces effectively detected. */
if (fFaces.getSize() < 2 ) {
if (fFacesCount != 0) {
qiLogInfo("module.example") << "No face detected" << std::endl;
fTtsProxy.say("No face detected.");
fFacesCount = 0;
}
return;
}
/** Check the number of faces from the FaceInfo field, and check that it has
* changed from the last event.*/
if (fFaces[1].getSize() - 1 != fFacesCount) {
qiLogInfo("module.name") << fFaces[1].getSize() - 1 << " face(s) detected." << std::endl;
char buffer[50];
sprintf(buffer, "%d faces detected.", fFaces[1].getSize() - 1);
fTtsProxy.say(std::string(buffer));
/** Update the current number of detected faces. */
fFacesCount = fFaces[1].getSize() - 1;
}
}
catch (const AL::ALError& e) {
qiLogError("module.name") << e.what() << std::endl;
}
}