Revision 0c15613f server/include/MiddlewareROS.h

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server/include/MiddlewareROS.h
30 30 
#include "Middleware.h"
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#ifdef ROS_SUPPORT
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    #include "ros/ros.h"
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    #include <actionlib/client/simple_action_client.h>
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    //messages


  		




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    #include "hlrc_server/phoneme.h"


  		




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    #include "hlrc_server/soundchunk.h"


  		




  
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    #include "hlrc_server/utterance.h"


  		




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    //actions


  		




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    #include "hlrc_server/gazetargetAction.h"


  		




  
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    #include "hlrc_server/ttsAction.h"


  		




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    #include "ROS/GazeCallbackWrapperROS.h"


  		




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    #include "ROS/MouthCallbackWrapperROS.h"


  		




  ......




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#endif


  		




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#include <boost/shared_ptr.hpp>


  		




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#define ROS_ACTION_CALL_TIMEOUT 30.0


  		




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class MiddlewareROS : public Middleware{


  		




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#ifndef ROS_SUPPORT


  		




  ......




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    GazeCallbackWrapper *gaze_action_server;


  		




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    MouthCallbackWrapper *mouth_action_server;


  		




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    SpeechCallbackWrapper *speech_action_server;


  		




  
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    actionlib::SimpleActionClient<hlrc_server::ttsAction> *tts_ac;


  		




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#endif


  		




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};


  		




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