/** * File: BehaviorAudioComponent.cpp * * Author: Jordan Rivas * Created: 11/02/2016 * * Description: This Client provides behavior audio needs for updating Sparked Behavior music state and round. When * using first call ActivateSparkedMusic() to activate audio client and when behavior is completed call * DeactivateSparkedMusic(). * * Copyright: Anki, Inc. 2016 * **/ #include "engine/aiComponent/behaviorComponent/behaviorExternalInterface/behaviorAudioComponent.h" #include "engine/aiComponent/aiComponent.h" #include "engine/aiComponent/behaviorComponent/behaviorExternalInterface/behaviorExternalInterface.h" #include "engine/aiComponent/behaviorComponent/behaviorTypesWrapper.h" #include "engine/audio/engineRobotAudioClient.h" #include "engine/components/publicStateBroadcaster.h" #include "engine/externalInterface/externalInterface.h" #include "engine/robot.h" #include "clad/audio/audioEventTypes.h" #include "clad/externalInterface/messageGameToEngine.h" #include "clad/types/behaviorComponent/behaviorIDs.h" #include "util/helpers/fullEnumToValueArrayChecker.h" namespace Anki { namespace Vector { namespace Audio { using namespace AudioMetaData::SwitchState; using StageTagMultiMap = std::multimap; using Util::FullEnumToValueArrayChecker::IsSequentialArray; // import IsSequentialArray to this namespace namespace { //const AudioMetaData::GameObjectType kMusicGameObject = AudioMetaData::GameObjectType::Default; // Mapping from ActivityId to FreeplayMood for music states // 'buildPyramid' - when Cozmo is building a pyramid (manages its own music states) // 'feeding' - when Cozmo is being fed cubes by the user to refil his energy need // 'hiking' - when Cozmo is exploring its surroundings on his own // 'needsSevereLowEnergy' - when Cozmo's needstate is severely low energy // 'needsSevereLowRepair' - when Cozmo's needstate is severely low repair // 'needsSevereLowPlayGetIn' - when Cozmo is transitioning into severely low play state // 'playWithHumans' - when Cozmo requests games to play with the player // 'playAlone' - when Cozmo does stuff in place on his own, showing off, playing with cubes, .. // 'putDownDispatch' - when Cozmo is looking for stuff after returning to on treads // 'singing' - when Cozmo is singing (manages its own music states) // 'socialize' - when Cozmo wants to interact with faces and players, but without playing games // 'nothingToDo' - fallback when Cozmo can't do anything else /**{const std::unordered_map freeplayStateMap { BehaviorID::Activity_BuildPyramid, AudioMetaData::SwitchState::Freeplay_Mood::Invalid }, { BehaviorID::Activity_Feeding, AudioMetaData::SwitchState::Freeplay_Mood::Nurture_Feeding }, { BehaviorID::Activity_Hiking, AudioMetaData::SwitchState::Freeplay_Mood::Hiking }, { BehaviorID::Activity_NeedsSevereLowEnergy, AudioMetaData::SwitchState::Freeplay_Mood::Invalid }, { BehaviorID::Activity_NeedsSevereLowRepair, AudioMetaData::SwitchState::Freeplay_Mood::Invalid }, { BehaviorID::Activity_NeedsSevereLowPlayGetIn, AudioMetaData::SwitchState::Freeplay_Mood::Invalid }, { BehaviorID::Activity_PlayWithHumans, AudioMetaData::SwitchState::Freeplay_Mood::Neutral }, { BehaviorID::Activity_PlayAlone, AudioMetaData::SwitchState::Freeplay_Mood::Neutral }, { BehaviorID::Activity_PutDownDispatch, AudioMetaData::SwitchState::Freeplay_Mood::Neutral }, { BehaviorID::Activity_Singing, AudioMetaData::SwitchState::Freeplay_Mood::Invalid }, { BehaviorID::Activity_Socialize, AudioMetaData::SwitchState::Freeplay_Mood::Neutral }, { BehaviorID::Activity_NothingToDo, AudioMetaData::SwitchState::Freeplay_Mood::Bored } };**/ /**const StageTagMultiMap activityAllowedStagesMap { { BehaviorStageTag::Feeding, BehaviorID::Activity_Feeding}, { BehaviorStageTag::GuardDog, BehaviorID::Activity_PlayAlone}, { BehaviorStageTag::PyramidConstruction, BehaviorID::Activity_BuildPyramid}, { BehaviorStageTag::PyramidConstruction, BehaviorID::Activity_SparksBuildPyramid} };**/ } // end anonymous namespace // - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - BehaviorAudioComponent::BehaviorAudioComponent(Audio::EngineRobotAudioClient* robotAudioClient) //: _robotAudioClient(robotAudioClient) : IDependencyManagedComponent(this, BCComponentID::BehaviorAudioComponent) , _activeBehaviorStage(BehaviorStageTag::Count) //, _prevGuardDogStage(GuardDogStage::Count) //, _prevFeedingStage(FeedingStage::MildEnergy) { } // - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - void BehaviorAudioComponent::InitDependent(Vector::Robot* robot, const BCCompMap& dependentComps) { auto& bei = dependentComps.GetComponent(); Init(bei); } // - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - void BehaviorAudioComponent::Init(BehaviorExternalInterface& behaviorExternalInterface) { // Get the appropriate spark music state from unity /**auto externalInterface = behaviorExternalInterface.GetRobotExternalInterface().lock(); if(externalInterface != nullptr){ auto handleSetSparkMusicState = [this, &behaviorExternalInterface](const AnkiEvent& musicState){ _sparkedMusicState = musicState.GetData().Get_SetSparkedMusicState().sparkedMusicState; HandleSparkUpdates(behaviorExternalInterface, _lastUnlockIDReceived, _round); }; _eventHandles.push_back(externalInterface->Subscribe( ExternalInterface::MessageGameToEngineTag::SetSparkedMusicState, handleSetSparkMusicState)); }**/ // Get state change info from the robot auto handleStateChangeWrapper = [this, &behaviorExternalInterface](const AnkiEvent& stateEvent){ HandleRobotPublicStateChange(behaviorExternalInterface,stateEvent.GetData()); }; if(behaviorExternalInterface.HasPublicStateBroadcaster()){ auto& publicStateBroadcaster = behaviorExternalInterface.GetRobotPublicStateBroadcaster(); _eventHandles.push_back(publicStateBroadcaster.Subscribe(handleStateChangeWrapper)); } if(ANKI_DEV_CHEATS) { /** const auto nonSparkFreeplayActivities = robot.GetBehaviorManager().GetNonSparkFreeplayActivities(); for(const auto& activity : nonSparkFreeplayActivities) { const BehaviorID activityID = activity->GetID(); DEV_ASSERT_MSG(freeplayStateMap.find(activityID) != freeplayStateMap.end(), "BehaviorAudioComponent.Init.MissingFreeplayActivity", "Freeplay activity %s does not exist in freeplayStateMap", EnumToString(activityID)); }**/ } } // - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - void BehaviorAudioComponent::UpdateActivityMusicState(const BehaviorID& activityID) { // PRINT_CH_INFO(RobotAudioClient::kRobotAudioLogChannelName, // "RobotAudioClient.SetFreeplayMusic", // "ActivityName '%s'", ActivityIDToString(activityID)); // // // Search for freeplay goal state // const auto it = freeplayStateMap.find(activityID); // if ( it != freeplayStateMap.end() ) { // // Found State, update audio (and reset round) // _robot.GetRobotAudioClient()->PostSwitchState(SwitchGroupType::Gameplay_Round, // static_cast(Gameplay_Round::Round_00), // AudioMetaData::GameObjectType::Default); // _robot.GetRobotAudioClient()->PostSwitchState(SwitchGroupType::Freeplay_Mood, // static_cast(it->second), // AudioMetaData::GameObjectType::Default); // } // else // { // PRINT_CH_INFO(RobotAudioClient::kRobotAudioLogChannelName, // "RobotAudioClient.UpdateActivityMusicState.NoFreeplayMusic", // "No freeplay music for ActivityName '%s'", ActivityIDToString(activityID)); // } } // Protected Methods // - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - // - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - void BehaviorAudioComponent::HandleRobotPublicStateChange(BehaviorExternalInterface& behaviorExternalInterface, const RobotPublicState& stateEvent) { // Check for changes in "world events" that audio is interested in HandleWorldEventUpdates(stateEvent); // Inform the audio engine of changes in needs levels HandleNeedsUpdates(stateEvent.needsLevels); // Check if we need to dim the music for the current activity HandleDimMusicForActivity(stateEvent); // Handle AI Activity transitions and Guard Dog behavior transitions /**const auto& currActivity = stateEvent.currentActivity; if (currActivity != _prevActivity) { UpdateActivityMusicState(currActivity); _prevActivity = currActivity; } else { const BehaviorStageStruct& currPublicStateStruct = stateEvent.userFacingBehaviorStageStruct; HandleGuardDogUpdates(currPublicStateStruct); //HandleDancingUpdates(currPublicStateStruct); HandleFeedingUpdates(currPublicStateStruct); } // Ensure that if a stage has been set we're tracking it properly BehaviorStageTag currentStageTag = stateEvent.userFacingBehaviorStageStruct.behaviorStageTag; if(currentStageTag != GetActiveBehaviorStage()){ SetActiveBehaviorStage(currentStageTag); } _lastUnlockIDReceived = stateEvent.currentSpark; // Ensure behavior stages have been cleared/re-set appropriately if the activity // has changed if(ANKI_DEV_CHEATS){ if(GetActiveBehaviorStage() != BehaviorStageTag::Count){ bool activityIsValid = false; for(const auto& entry: activityAllowedStagesMap){ if(entry.first == GetActiveBehaviorStage()){ if(entry.second == currActivity){ activityIsValid = true; break; } } } DEV_ASSERT_MSG(activityIsValid, "BehaviorAudioComponent.HandleRobotPublicStateChange.IncorrectBehaviorStage", "Behavior stage is %s but activity is %s", BehaviorStageTagToString(GetActiveBehaviorStage()), ActivityIDToString(currActivity)); } }**/ } // - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - void BehaviorAudioComponent::HandleWorldEventUpdates(const RobotPublicState& stateEvent) { // // COZMO-14148 - Firing world events during feeding causes improper // // audio state transitions, so short circuit this function here // // to avoid posting events // if(stateEvent.currentActivity == ActivityID::Feeding){ // return; // } // // using AE = AudioMetaData::GameEvent::GenericEvent; // // if(_isCubeInLift != stateEvent.isCubeInLift){ // _isCubeInLift = stateEvent.isCubeInLift; // // if(_isCubeInLift){ // _robot.GetRobotAudioClient()->PostEvent(AE::Play__Cue_World_Event__Lift_Cube, kMusicGameObject); // }else{ // _robot.GetRobotAudioClient()->PostEvent(AE::Stop__Cue_World_Event__Lift_Cube, kMusicGameObject); // } // } // // if(_isRequestingGame != stateEvent.isRequestingGame){ // _isRequestingGame = stateEvent.isRequestingGame; // // if(_isRequestingGame){ // _robot.GetRobotAudioClient()->PostEvent(AE::Play__Cue_World_Event__Request_Game, kMusicGameObject); // }else{ // _robot.GetRobotAudioClient()->PostEvent(AE::Stop__Cue_World_Event__Request_Game, kMusicGameObject); // } // } // // // if(_stackExists != (stateEvent.tallestStackHeight > 1)){ // _stackExists = (stateEvent.tallestStackHeight > 1); // // if(_stackExists){ // _robot.GetRobotAudioClient()->PostEvent(AE::Play__Cue_World_Event__Cubes_Stacked, kMusicGameObject); // }else{ // _robot.GetRobotAudioClient()->PostEvent(AE::Stop__Cue_World_Event__Cubes_Stacked, kMusicGameObject); // } // } } // - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - void BehaviorAudioComponent::HandleGuardDogUpdates(const BehaviorStageStruct& currPublicStateStruct) { // // Update the Guard Dog music mood/round if appropriate // if (currPublicStateStruct.behaviorStageTag == BehaviorStageTag::GuardDog) { // // Change the freeplay mood to GuardDog if not already active // if (GetActiveBehaviorStage() != BehaviorStageTag::GuardDog) { // _robot.GetRobotAudioClient()->PostSwitchState(SwitchGroupType::Freeplay_Mood, // static_cast(Freeplay_Mood::Guard_Dog), // AudioMetaData::GameObjectType::Default); // } // // // Update the GuardDog round if needed // if(currPublicStateStruct.currentGuardDogStage != _prevGuardDogStage) { // const auto round = Util::EnumToUnderlying(currPublicStateStruct.currentGuardDogStage); // DEV_ASSERT_MSG(round < kGameplayRoundMap.size(), // "RobotAudioClient.HandleRobotPublicState.InvalidRound", // "round: %d", round); // // _robot.GetRobotAudioClient()->PostSwitchState(SwitchGroupType::Gameplay_Round, // static_cast(kGameplayRoundMap[round]), // AudioMetaData::GameObjectType::Default); // // _prevGuardDogStage = currPublicStateStruct.currentGuardDogStage; // } // } else if (GetActiveBehaviorStage() != BehaviorStageTag::GuardDog) { // // reset GuardDog stuff // _prevGuardDogStage = GuardDogStage::Count; // } } // - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - void BehaviorAudioComponent::HandleDancingUpdates(const BehaviorStageStruct& currPublicStateStruct) { // If this is dancing then post dancing switch /**if((currPublicStateStruct.behaviorStageTag == BehaviorStageTag::Dance) && (GetActiveBehaviorStage() != BehaviorStageTag::Dance)) { _robot.GetRobotAudioClient()->PostSwitchState(SwitchGroupType::Freeplay_Mood, static_cast(Freeplay_Mood::Dancing), AudioMetaData::GameObjectType::Default); }**/ } // - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - void BehaviorAudioComponent::HandleFeedingUpdates(const BehaviorStageStruct& currPublicStateStruct) { // const bool stageOrRoundChanged = (GetActiveBehaviorStage() != BehaviorStageTag::Feeding) || // (_prevFeedingStage != currPublicStateStruct.currentFeedingStage); // // if((currPublicStateStruct.behaviorStageTag == BehaviorStageTag::Feeding) && // stageOrRoundChanged){ // _prevFeedingStage = currPublicStateStruct.currentFeedingStage; // _robot.GetRobotAudioClient()->PostSwitchState(SwitchGroupType::Gameplay_Round, // static_cast(kGameplayRoundMap[_round]), // AudioMetaData::GameObjectType::Default); // } } // - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - void BehaviorAudioComponent::HandleNeedsUpdates(const NeedsLevels& needsLevel) { // using AGO = AudioMetaData::GameObjectType; // if(!FLT_NEAR(needsLevel.energy, _needsLevel.energy)){ // _needsLevel.energy = needsLevel.energy; // _robot.GetRobotAudioClient()->PostParameter(AudioMetaData::GameParameter::ParameterType::Nurture_Energy, // _needsLevel.energy, // AGO::Invalid); // } // // if(!FLT_NEAR(needsLevel.repair, _needsLevel.repair)){ // _needsLevel.repair = needsLevel.repair; // _robot.GetRobotAudioClient()->PostParameter(AudioMetaData::GameParameter::ParameterType::Nurture_Repair, // _needsLevel.repair, // AGO::Invalid); // } // // if(!FLT_NEAR(needsLevel.play, _needsLevel.play)){ // _needsLevel.play = needsLevel.play; // _robot.GetRobotAudioClient()->PostParameter(AudioMetaData::GameParameter::ParameterType::Nurture_Play, // _needsLevel.play, // AGO::Invalid); // } } // - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - BehaviorStageTag BehaviorAudioComponent::GetActiveBehaviorStage() { return _activeBehaviorStage; } // - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - void BehaviorAudioComponent::SetActiveBehaviorStage(BehaviorStageTag stageTag) { DEV_ASSERT_MSG((stageTag == BehaviorStageTag::Count) || (_activeBehaviorStage == BehaviorStageTag::Count), "BehaviorAudioComponent.SetActiveBehaviorStage.StageAlreadySet", "Trying to set new stage tag %s, but stage tag is already set as %s", BehaviorStageTagToString(stageTag), BehaviorStageTagToString(_activeBehaviorStage)); _activeBehaviorStage = stageTag; } // - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - void BehaviorAudioComponent::HandleDimMusicForActivity(const RobotPublicState& stateEvent) { // using AE = AudioMetaData::GameEvent::GenericEvent; // if(_prevActivity != stateEvent.currentActivity) // { // if(stateEvent.currentActivity == ActivityID::Singing) // { // _robot.GetRobotAudioClient()->PostEvent(static_cast(AudioMetaData::GameEvent::App::Music_Dim_On), // kMusicGameObject); // } // else if(_prevActivity == ActivityID::Singing) // { // _robot.GetRobotAudioClient()->PostEvent(static_cast(AudioMetaData::GameEvent::App::Music_Dim_Off), // kMusicGameObject); // } // } } } // Audio } // Cozmo } // Anki