hlrc

/*

* This file is part of hlrc

*

* Copyright(c) sschulz <AT> techfak.uni-bielefeld.de

* http://opensource.cit-ec.de/projects/hlrc

*

* This file may be licensed under the terms of the

* GNU General Public License Version 3 (the ``GPL''),

* or (at your option) any later version.

*

* Software distributed under the License is distributed

* on an ``AS IS'' basis, WITHOUT WARRANTY OF ANY KIND, either

* express or implied. See the GPL for the specific language

* governing rights and limitations.

*

* You should have received a copy of the GPL along with this

* program. If not, go to http://www.gnu.org/licenses/gpl.html

* or write to the Free Software Foundation, Inc.,

* 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.

*

* The development of this software was supported by the

* Excellence Cluster EXC 277 Cognitive Interaction Technology.

* The Excellence Cluster EXC 277 is a grant of the Deutsche

* Forschungsgemeinschaft (DFG) in the context of the German

* Excellence Initiative.

*

*/

#pragma once

#include "Middleware.h"

#ifdef RSB_SUPPORT

    #define BOOST_SIGNALS_NO_DEPRECATION_WARNING //mute warnings from RSB

    #include <rsb/Factory.h>

    #include <rsb/Informer.h>

    #include <rsb/Listener.h>

    #if USE_INPROTK_SYNTHESIS

    #include <rst/communicationpatterns/TaskState.pb.h>

    #endif

#endif

class MiddlewareRSB : public Middleware{

#ifndef RSB_SUPPORT

public:

    MiddlewareRSB(std::string scope) : Middleware(scope){

        printf("> ERROR: hlrc was compiled without RSB middleware support. Please use MiddlewareROS() instead!\n\n");

        exit(EXIT_FAILURE);

    }

    void init(){};

    void publish_default_emotion(RobotEmotion e, bool blocking){};

    void publish_current_emotion(RobotEmotion e, bool blocking){};

    void publish_gaze_target(RobotGaze g, bool blocking){};

    void publish_lookat_target(float x, float y, float z, const std::string frame_id,

                               bool blocking, float roll){};

    void publish_mouth_target(RobotMouth m, bool blocking){};

    void publish_head_animation(RobotHeadAnimation a, bool blocking) {};

    void publish_speech(std::string text, bool blocking) {};

#else

public:

    MiddlewareRSB(std::string scope);

protected:

    void init();

    void publish_current_emotion(RobotEmotion e, bool blocking);

    void publish_default_emotion(RobotEmotion e, bool blocking);

    void publish_gaze_target(RobotGaze target, bool blocking);

    void publish_lookat_target(float x, float y, float z, const std::string frame_id,

                               bool blocking, float roll);

    void publish_mouth_target(RobotMouth target, bool blocking);

    void publish_head_animation(RobotHeadAnimation a, bool blocking);

    void publish_speech(std::string text, bool blocking);

private:

    void publish_emotion(std::string scope_target, RobotEmotion e, bool blocking);

    //rsb::patterns::RemoteServerPtr inprotk_server;

    rsb::patterns::RemoteServerPtr hlrc_server;

    //rsb::patterns::LocalServerPtr inprotk_server;

#if USE_INPROTK_SYNTHESIS

    rsb::Informer<rst::communicationpatterns::TaskState>::Ptr inprotk_informer;

    rsb::ListenerPtr inprotk_listener;

    rsb::ListenerPtr hack_listener;

    boost::mutex pending_tasks_mutex;

    std::vector<boost::shared_ptr<rst::communicationpatterns::TaskState>> pending_tasks;

    unsigned int say_task_active;

    unsigned int say_task_done;

    boost::mutex current_saytask_mutex;

    std::string current_saytask;

    std::string get_current_saytask();

    void set_current_saytask(std::string text);

    void check_for_inprotk();

    void incoming_hack(boost::shared_ptr<std::string> finished_task);

#endif

#endif

};