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faceExpressions: more fixes to the doc #698

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Dec 3, 2020
Merged

faceExpressions: more fixes to the doc #698

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2 changes: 1 addition & 1 deletion app/faceExpressions/doc.dox
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Original file line number Diff line number Diff line change
Expand Up @@ -49,7 +49,7 @@ set col <color> set the color of the led

set brig <brig> set the brightness of the leds
!! available only for rfe board !!
the brightness is defined by an iteger from 0 to 5, where 0 means led of
the brightness is defined by an integer from 0 to 5, where 0 means led off

set mask (<col_leb> <m_name_leb> <brig_leb>) (<col_reb> <m_name_reb> <brig_reb>) (<col_mou> <m_name_mou> <brig_mou>) set color, bitmask and brightness for each part(leb, reb, mou)
!! available only for rfe board !!
Expand Down
4 changes: 2 additions & 2 deletions app/faceExpressions/scripts/exampleTransition.sh
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Original file line number Diff line number Diff line change
Expand Up @@ -2,7 +2,7 @@
happy() {
echo "set $1 hap" | yarp rpc /icub/face/emotions/in
sleep 0.001
echo "set brig green" | yarp rpc /icub/face/emotions/in
echo "set brig $2" | yarp rpc /icub/face/emotions/in
}

neutral() {
Expand All @@ -25,7 +25,7 @@ surprised() {

}

while true; do
while true; do
# neutral fade out
echo "set mask (blue BM_EB1 4) (blue BM_EB1 4) (blue BM_M0 4)" | yarp rpc /icub/face/emotions/in
sleep 0.5
Expand Down
40 changes: 20 additions & 20 deletions src/core/emotionInterface/emotionInterfaceModule.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -67,7 +67,7 @@ void printHelp (yarp::os::Bottle& reply) {
"\n"+
"set brig <brig> set the brightness of the leds\n"+
"\t!! available only for rfe board !!\n"+
"\tthe brightness is defined by an iteger from 0 to 5, where 0 means led of\n"+
"\tthe brightness is defined by an integer from 0 to 5, where 0 means led off\n"+
"\n"+
"set mask (<col_leb> <m_name_leb> <brig_leb>) (<col_reb> <m_name_reb> <brig_reb>) (<col_mou> <m_name_mou> <brig_mou>) set color, bitmask and brightness for each part(leb, reb, mou)\n"+
"\t!! available only for rfe board !!\n"+
Expand All @@ -82,7 +82,7 @@ EmotionInterfaceModule::EmotionInterfaceModule() : emotionInitReport(this) {
}

bool EmotionInterfaceModule::configure(ResourceFinder& config){

char name[10];
int i;

Expand All @@ -101,7 +101,7 @@ bool EmotionInterfaceModule::configure(ResourceFinder& config){
_mouthmaskemotions = config.check("bitmask_mouth_emotions", Value(0), "Number of predefined bitmask eyebrow expressions").asInt();
_auto = config.check("auto");
_period = config.check("period", Value(10.0), "Period for expression switching in auto mode").asDouble();
if(_highlevelemotions == 0)
if(_highlevelemotions == 0)
{
_emotion_table = nullptr;
}
Expand Down Expand Up @@ -131,7 +131,7 @@ bool EmotionInterfaceModule::configure(ResourceFinder& config){
}
//first field - name of the expression
std::string n1 = bot.get(1).toString();

if(n1.length()!=3) //must have length 3
{
yError("First field of identifier %s has invalid size (must be 3).", name);
Expand Down Expand Up @@ -246,7 +246,7 @@ bool EmotionInterfaceModule::configure(ResourceFinder& config){
}

}

yarp::os::Property rcb_face_conf{ {"device",Value("remote_controlboard")},
{"local", Value(getName("/face/remoteControlBoard"))},
{"remote",Value("/icub/face")},
Expand Down Expand Up @@ -281,7 +281,7 @@ bool EmotionInterfaceModule::configure(ResourceFinder& config){
}

// open ports
_inputPort.open(getName("/in"));
_inputPort.open(getName("/in"));
_outputPort.open(getName("/out"));
_outputPort.setReporter(emotionInitReport);
_initEmotionTrigger=0;
Expand All @@ -296,7 +296,7 @@ bool EmotionInterfaceModule::close(){
_inputPort.close();
if(!_outputPort.isClosed())
_outputPort.close();

if (_emotion_table != nullptr)
{
delete [] _emotion_table;
Expand All @@ -313,7 +313,7 @@ bool EmotionInterfaceModule::close(){
}

bool EmotionInterfaceModule::interruptModule(){

_inputPort.interrupt();
_outputPort.interrupt();
return true;
Expand Down Expand Up @@ -350,7 +350,7 @@ double EmotionInterfaceModule::getPeriod(){
}

bool EmotionInterfaceModule::respond(const Bottle &command,Bottle &reply){

bool ok = false;
bool rec = false; // is the command recognized?

Expand Down Expand Up @@ -441,7 +441,7 @@ bool EmotionInterfaceModule::respond(const Bottle &command,Bottle &reply){

if (!rec)
ok = false;

if (!ok) {
reply.clear();
reply.addVocab(EMOTION_VOCAB_FAILED);
Expand All @@ -450,14 +450,14 @@ bool EmotionInterfaceModule::respond(const Bottle &command,Bottle &reply){
reply.addVocab(EMOTION_VOCAB_OK);

return ok;
}
}

//get the index in _emotions_table of a emotion name
int EmotionInterfaceModule::getIndex(const std::string cmd)
{
if(_highlevelemotions == 0)
return -1;

int i;
for(i = 0; i < _highlevelemotions; i++)
{
Expand All @@ -467,7 +467,7 @@ int EmotionInterfaceModule::getIndex(const std::string cmd)

if( i == _highlevelemotions ) // no match
return -1;

return i;
}

Expand All @@ -487,12 +487,12 @@ bool EmotionInterfaceModule::writePort(const char* cmd)
bool EmotionInterfaceModule::setLeftEyebrow(const std::string cmd)
{
char cmdbuffer[] = {0,0,0,0};
int i;
int i;
i = getIndex(cmd);
if(i < 0)
return false;

if( _emotion_table[i].leb[0] == '*' || _emotion_table[i].leb[1] == '*')
if( _emotion_table[i].leb[0] == '*' || _emotion_table[i].leb[1] == '*')
return true; //leave it in the same state

cmdbuffer[0]= 'L';
Expand All @@ -505,12 +505,12 @@ bool EmotionInterfaceModule::setLeftEyebrow(const std::string cmd)
bool EmotionInterfaceModule::setRightEyebrow(const std::string cmd)
{
char cmdbuffer[] = {0,0,0,0};
int i;
int i;
i = getIndex(cmd);
if(i < 0)
return false;

if( _emotion_table[i].reb[0] == '*' || _emotion_table[i].reb[1] == '*')
if( _emotion_table[i].reb[0] == '*' || _emotion_table[i].reb[1] == '*')
return true; //leave it in the same state

cmdbuffer[0]= 'R';
Expand All @@ -523,12 +523,12 @@ bool EmotionInterfaceModule::setRightEyebrow(const std::string cmd)
bool EmotionInterfaceModule::setMouth(const std::string cmd)
{
char cmdbuffer[] = {0,0,0,0};
int i;
int i;
i = getIndex(cmd);
if(i < 0)
return false;

if( _emotion_table[i].mou[0] == '*' || _emotion_table[i].mou[1] == '*')
if( _emotion_table[i].mou[0] == '*' || _emotion_table[i].mou[1] == '*')
return true; //leave it in the same state

cmdbuffer[0]= 'M';
Expand All @@ -547,7 +547,7 @@ bool EmotionInterfaceModule::setEyelids(const std::string cmd)

auto res{ true };

if( _emotion_table[i].eli[0] == '*' || _emotion_table[i].eli[1] == '*')
if( _emotion_table[i].eli[0] == '*' || _emotion_table[i].eli[1] == '*')
return true; //leave it in the same state
if (_iPos)
{
Expand Down