def reset(ctx: rs.ContextWrapper):
"""
If there is no call for given seconds, removes the interlocutor node and initializes face oracle filter
from scratch.
"""
# Remove interloc if present
if any(ctx.enum(interloc.prop_all)):
popped_node = ctx.pop(
f'interloc:all:{interloc.ANON_INTERLOC_ID}')
if popped_node:
logger.info(
"Visual contact is broken, removed the interlocutor node"
)
# Install a new FaceOracleFilter
ctx[prop_face_filter] = FaceOracleFilter()
def am_i_bored_by_user(ctx: rs.ContextWrapper):
"""
Emits idle:bored-by-user idle:bored as emitted and there is a present interlocutor.
"""
if any(ctx.enum(interloc.prop_all)):
return rs.Emit(wipe=True)
def is_busy(ctx: rs.ContextWrapper):
busy = True if any(ctx.enum(interloc.prop_all)) else False
# Set this as param if you want to use it inside ws_comm, otherwise you can just assign a variable
if ROS_AVAILABLE:
rospy.set_param('roboy_is_busy', busy)
def recognize_faces(ctx: rs.ContextWrapper):
"""
Activates with each incoming face data served by face oracle. Responsible for synchronizing the node of
person in vision with the anonymous interlocutor node. Uses face oracle filter to organize the incoming data
and find out the right person.
"""
face_filter: FaceOracleFilter = ctx[prop_face_filter]
faces: Faces = ctx[prop_subscribe_faces]
# Push faces to face filter
best_guess_changed = face_filter.push_message(faces)
if best_guess_changed:
current_best_guess: Person = face_filter.current_best_guess
onto: Ontology = mem.get_ontology()
sess: Session = mem.get_session()
person_node = Node(metatype=onto.get_type("Person"))
best_guess_id = current_best_guess.id
face_vector = current_best_guess.face_vector
if current_best_guess.is_known:
person_node_query = sess.retrieve(node_id=best_guess_id)
if person_node_query:
person_node = person_node_query[0]
else:
err_msg = "Person with id %s is not found in memory." % best_guess_id
logger.error(err_msg)
return
else:
person_node.set_properties({
'face_vector':
face_vector,
'name':
interloc.ANON_INTERLOC_ID
})
push = False
# Check if there is any interlocutor. If necessary and pop the current node and push person node
# instead.
if any(ctx.enum(interloc.prop_all)):
interloc_node: Node = ctx[
f'interloc:all:{interloc.ANON_INTERLOC_ID}']
# If interloc and the person nodes are not same pop and push person node.
if not (interloc_node.get_id() == person_node.get_id()
) or interloc_node.get_id() < 0:
# Remove the current interloc
logger.info('Popping current interlocutor')
popped_node = ctx.pop(
f'interloc:all:{interloc.ANON_INTERLOC_ID}')
assert popped_node == True
push = True
else:
# Update the face vector of the person already familiar with
save_face(ctx, interloc_node.get_id(),
current_best_guess.face_vector)
else:
push = True
if push:
# Push the new interlocutor
ctx.push(parent_property_or_path=interloc.prop_all,
child=rs.Property(name=interloc.ANON_INTERLOC_ID,
default_value=person_node))
logger.info(
f"Pushed node with id {person_node.id} to interloc:all"
)
