Add angry emotion and not fullscreem mode to ergoCubEmotions (#258)

app/ergoCubEmotions/conf/config.ini

@@ -1,6 +1,7 @@
 [general]
-num_expressions 4
-num_transitions 12
+num_expressions 5
+num_transitions 20
+fullscreen true
 
 #[expression_0]
 #name neutral
@@ -42,6 +43,11 @@ name shy
 type video
 file expressions/videos/shy.mp4
 
+[expression_4]
+name angry
+type video
+file expressions/videos/angry.mp4
+
 [transition_0]
 source neutral
 destination happy
@@ -102,4 +108,42 @@ source shy
 destination happy
 file expressions/videos/shy-happy.mp4
 
+[transition_12]
+source happy
+destination angry
+file expressions/videos/happy-angry.mp4
+
+[transition_13]
+source angry
+destination happy
+file expressions/videos/angry-happy.mp4     
+
+[transition_14]
+source angry
+destination neutral
+file expressions/videos/angry-neutral.mp4
+
+[transition_15]
+source angry
+destination alert
+file expressions/videos/angry-alert.mp4
+
+[transition_16]
+source angry
+destination shy
+file expressions/videos/angry-shy.mp4
+
+[transition_17]
+source neutral
+destination angry
+file expressions/videos/neutral-angry.mp4
+
+[transition_18]
+source alert
+destination angry
+file expressions/videos/alert-angry.mp4
 
+[transition_19]
+source shy
+destination angry
+file expressions/videos/shy-angry.mp4

src/modules/ergoCubEmotions/ergoCubEmotions.cpp

@@ -31,6 +31,7 @@ bool ErgoCubEmotions::configure(ResourceFinder& rf)
     Bottle &bGroup = rf.findGroup("general");
     nExpressions = bGroup.find("num_expressions").asInt32();
     nTransitions = bGroup.find("num_transitions").asInt32();
+    fullscreen = bGroup.find("fullscreen").asBool();
 
     for(int i = 0; i < nExpressions; i++)
     {
@@ -105,8 +106,13 @@ bool ErgoCubEmotions::configure(ResourceFinder& rf)
     isTransition = true;
     command = "neutral";
 
-    namedWindow("emotion", WND_PROP_FULLSCREEN);
-    setWindowProperty("emotion", WND_PROP_FULLSCREEN, WINDOW_FULLSCREEN);
+    if(fullscreen){
+        namedWindow("emotion", WND_PROP_FULLSCREEN);
+        setWindowProperty("emotion", WND_PROP_FULLSCREEN, WINDOW_FULLSCREEN);
+    }
+    else{
+        namedWindow("emotion", WINDOW_NORMAL);
+    }
 
     cmdPort.open("/ergoCubEmotions/rpc");
     attach(cmdPort);

src/modules/ergoCubEmotions/ergoCubEmotions.h

@@ -23,34 +23,36 @@
 #include <map>
 #include <unordered_map>
 
-class ErgoCubEmotions : public yarp::os::RFModule, public ergoCubEmotions_IDL {
-    public:
-        ErgoCubEmotions();
-        ~ErgoCubEmotions();
-
-        bool attach(yarp::os::RpcServer& source);
-        bool configure(yarp::os::ResourceFinder& config);
-        bool close();
-        bool updateModule();
-        double getPeriod();
-
-        bool setEmotion(const std::string& command);
-        std::vector<std::string> availableEmotions();
-        void showTransition(const std::string &current, const std::string &desired);
-
-        yarp::os::RpcServer cmdPort;
-        int nExpressions;
-        int nTransitions;
-        bool isTransition;
-        std::unordered_map<std::string, std::pair<std::string, std::string>> imgMap;
-        std::map<std::pair<std::string, std::string>, std::string> transitionMap;
-        std::string command;
-        std::string currentCommand;
-        std::vector<std::string> avlEmotions;
-        cv::Mat img;
-        std::mutex mutex;
-        std::vector<cv::VideoCapture> videoCaptures;
-        std::vector<std::string> videoFileNames;
+class ErgoCubEmotions : public yarp::os::RFModule, public ergoCubEmotions_IDL
+{
+public:
+    ErgoCubEmotions();
+    ~ErgoCubEmotions();
+
+    bool attach(yarp::os::RpcServer &source);
+    bool configure(yarp::os::ResourceFinder &config);
+    bool close();
+    bool updateModule();
+    double getPeriod();
+
+    bool setEmotion(const std::string &command);
+    std::vector<std::string> availableEmotions();
+    void showTransition(const std::string &current, const std::string &desired);
+
+    yarp::os::RpcServer cmdPort;
+    int nExpressions;
+    int nTransitions;
+    bool isTransition;
+    bool fullscreen;
+    std::unordered_map<std::string, std::pair<std::string, std::string>> imgMap;
+    std::map<std::pair<std::string, std::string>, std::string> transitionMap;
+    std::string command;
+    std::string currentCommand;
+    std::vector<std::string> avlEmotions;
+    cv::Mat img;
+    std::mutex mutex;
+    std::vector<cv::VideoCapture> videoCaptures;
+    std::vector<std::string> videoFileNames;
 };
 
 #endif