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                    GNU GENERAL PUBLIC LICENSE

                       Version 3, 29 June 2007

 Copyright (C) 2007 Free Software Foundation, Inc. <http://fsf.org/>

 Everyone is permitted to copy and distribute verbatim copies

 of this license document, but changing it is not allowed.

                            Preamble

  The GNU General Public License is a free, copyleft license for

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  The licenses for most software and other practical works are designed

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                       TERMS AND CONDITIONS

  0. Definitions.

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  7. Additional Terms.

  "Additional permissions" are terms that supplement the terms of this

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Additional permissions that are applicable to the entire Program shall

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apply only to part of the Program, that part may be used separately

under those permissions, but the entire Program remains governed by

this License without regard to the additional permissions.

  When you convey a copy of a covered work, you may at your option

remove any additional permissions from that copy, or from any part of

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  Notwithstanding any other provision of this License, for material you

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  All other non-permissive additional terms are considered "further

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  Additional terms, permissive or non-permissive, may be stated in the

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the above requirements apply either way.

  8. Termination.

  You may not propagate or modify a covered work except as expressly

provided under this License.  Any attempt otherwise to propagate or

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this License (including any patent licenses granted under the third

paragraph of section 11).

  However, if you cease all violation of this License, then your

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holder fails to notify you of the violation by some reasonable means

prior to 60 days after the cessation.

  Moreover, your license from a particular copyright holder is

reinstated permanently if the copyright holder notifies you of the

violation by some reasonable means, this is the first time you have

received notice of violation of this License (for any work) from that

copyright holder, and you cure the violation prior to 30 days after

your receipt of the notice.

  Termination of your rights under this section does not terminate the

licenses of parties who have received copies or rights from you under

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reinstated, you do not qualify to receive new licenses for the same

material under section 10.

  9. Acceptance Not Required for Having Copies.

  You are not required to accept this License in order to receive or

run a copy of the Program.  Ancillary propagation of a covered work

occurring solely as a consequence of using peer-to-peer transmission

to receive a copy likewise does not require acceptance.  However,

nothing other than this License grants you permission to propagate or

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not accept this License.  Therefore, by modifying or propagating a

covered work, you indicate your acceptance of this License to do so.

  10. Automatic Licensing of Downstream Recipients.

  Each time you convey a covered work, the recipient automatically

receives a license from the original licensors, to run, modify and

propagate that work, subject to this License.  You are not responsible

for enforcing compliance by third parties with this License.

  An "entity transaction" is a transaction transferring control of an

organization, or substantially all assets of one, or subdividing an

organization, or merging organizations.  If propagation of a covered

work results from an entity transaction, each party to that

transaction who receives a copy of the work also receives whatever

licenses to the work the party's predecessor in interest had or could

give under the previous paragraph, plus a right to possession of the

Corresponding Source of the work from the predecessor in interest, if

the predecessor has it or can get it with reasonable efforts.

  You may not impose any further restrictions on the exercise of the

rights granted or affirmed under this License.  For example, you may

not impose a license fee, royalty, or other charge for exercise of

rights granted under this License, and you may not initiate litigation

(including a cross-claim or counterclaim in a lawsuit) alleging that

any patent claim is infringed by making, using, selling, offering for

sale, or importing the Program or any portion of it.

  11. Patents.

  A "contributor" is a copyright holder who authorizes use under this

License of the Program or a work on which the Program is based.  The

work thus licensed is called the contributor's "contributor version".

  A contributor's "essential patent claims" are all patent claims

owned or controlled by the contributor, whether already acquired or

hereafter acquired, that would be infringed by some manner, permitted

by this License, of making, using, or selling its contributor version,

but do not include claims that would be infringed only as a

consequence of further modification of the contributor version.  For

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  Each contributor grants you a non-exclusive, worldwide, royalty-free

patent license under the contributor's essential patent claims, to

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  In the following three paragraphs, a "patent license" is any express

agreement or commitment, however denominated, not to enforce a patent

(such as an express permission to practice a patent or covenant not to

sue for patent infringement).  To "grant" such a patent license to a

party means to make such an agreement or commitment not to enforce a

patent against the party.

  If you convey a covered work, knowingly relying on a patent license,

and the Corresponding Source of the work is not available for anyone

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publicly available network server or other readily accessible means,

then you must either (1) cause the Corresponding Source to be so

available, or (2) arrange to deprive yourself of the benefit of the

patent license for this particular work, or (3) arrange, in a manner

consistent with the requirements of this License, to extend the patent

license to downstream recipients.  "Knowingly relying" means you have

actual knowledge that, but for the patent license, your conveying the

covered work in a country, or your recipient's use of the covered work

in a country, would infringe one or more identifiable patents in that

country that you have reason to believe are valid.

  If, pursuant to or in connection with a single transaction or

arrangement, you convey, or propagate by procuring conveyance of, a

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receiving the covered work authorizing them to use, propagate, modify

or convey a specific copy of the covered work, then the patent license

you grant is automatically extended to all recipients of the covered

work and works based on it.

  A patent license is "discriminatory" if it does not include within

the scope of its coverage, prohibits the exercise of, or is

conditioned on the non-exercise of one or more of the rights that are

specifically granted under this License.  You may not convey a covered

work if you are a party to an arrangement with a third party that is

in the business of distributing software, under which you make payment

to the third party based on the extent of your activity of conveying

the work, and under which the third party grants, to any of the

parties who would receive the covered work from you, a discriminatory

patent license (a) in connection with copies of the covered work

conveyed by you (or copies made from those copies), or (b) primarily

for and in connection with specific products or compilations that

contain the covered work, unless you entered into that arrangement,

or that patent license was granted, prior to 28 March 2007.

  Nothing in this License shall be construed as excluding or limiting

any implied license or other defenses to infringement that may

otherwise be available to you under applicable patent law.

  12. No Surrender of Others' Freedom.

  If conditions are imposed on you (whether by court order, agreement or

otherwise) that contradict the conditions of this License, they do not

excuse you from the conditions of this License.  If you cannot convey a

covered work so as to satisfy simultaneously your obligations under this

License and any other pertinent obligations, then as a consequence you may

not convey it at all.  For example, if you agree to terms that obligate you

to collect a royalty for further conveying from those to whom you convey

the Program, the only way you could satisfy both those terms and this

License would be to refrain entirely from conveying the Program.

  13. Use with the GNU Affero General Public License.

  Notwithstanding any other provision of this License, you have

permission to link or combine any covered work with a work licensed

under version 3 of the GNU Affero General Public License into a single

combined work, and to convey the resulting work.  The terms of this

License will continue to apply to the part which is the covered work,

but the special requirements of the GNU Affero General Public License,

section 13, concerning interaction through a network will apply to the

combination as such.

  14. Revised Versions of this License.

  The Free Software Foundation may publish revised and/or new versions of

the GNU General Public License from time to time.  Such new versions will

be similar in spirit to the present version, but may differ in detail to

address new problems or concerns.

  Each version is given a distinguishing version number.  If the

Program specifies that a certain numbered version of the GNU General

Public License "or any later version" applies to it, you have the

option of following the terms and conditions either of that numbered

version or of any later version published by the Free Software

Foundation.  If the Program does not specify a version number of the

GNU General Public License, you may choose any version ever published

by the Free Software Foundation.

  If the Program specifies that a proxy can decide which future

versions of the GNU General Public License can be used, that proxy's

public statement of acceptance of a version permanently authorizes you

to choose that version for the Program.

  Later license versions may give you additional or different

permissions.  However, no additional obligations are imposed on any

author or copyright holder as a result of your choosing to follow a

later version.

  15. Disclaimer of Warranty.

  THERE IS NO WARRANTY FOR THE PROGRAM, TO THE EXTENT PERMITTED BY

APPLICABLE LAW.  EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT

HOLDERS AND/OR OTHER PARTIES PROVIDE THE PROGRAM "AS IS" WITHOUT WARRANTY

OF ANY KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING, BUT NOT LIMITED TO,

THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR

PURPOSE.  THE ENTIRE RISK AS TO THE QUALITY AND PERFORMANCE OF THE PROGRAM

IS WITH YOU.  SHOULD THE PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF

ALL NECESSARY SERVICING, REPAIR OR CORRECTION.

  16. Limitation of Liability.

  IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING

WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MODIFIES AND/OR CONVEYS

THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES, INCLUDING ANY

GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE

USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED TO LOSS OF

DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD

PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS),

EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF

SUCH DAMAGES.

  17. Interpretation of Sections 15 and 16.

  If the disclaimer of warranty and limitation of liability provided

above cannot be given local legal effect according to their terms,

reviewing courts shall apply local law that most closely approximates

an absolute waiver of all civil liability in connection with the

Program, unless a warranty or assumption of liability accompanies a

copy of the Program in return for a fee.

                     END OF TERMS AND CONDITIONS

            How to Apply These Terms to Your New Programs

  If you develop a new program, and you want it to be of the greatest

possible use to the public, the best way to achieve this is to make it

free software which everyone can redistribute and change under these terms.

  To do so, attach the following notices to the program.  It is safest

to attach them to the start of each source file to most effectively

state the exclusion of warranty; and each file should have at least

the "copyright" line and a pointer to where the full notice is found.

    <one line to give the program's name and a brief idea of what it does.>

    Copyright (C) <year>  <name of author>

    This program is free software: you can redistribute it and/or modify

    it under the terms of the GNU General Public License as published by

    the Free Software Foundation, either version 3 of the License, or

    (at your option) any later version.

    This program is distributed in the hope that it will be useful,

    but WITHOUT ANY WARRANTY; without even the implied warranty of

    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

    GNU General Public License for more details.

    You should have received a copy of the GNU General Public License

    along with this program.  If not, see <http://www.gnu.org/licenses/>.

Also add information on how to contact you by electronic and paper mail.

  If the program does terminal interaction, make it output a short

notice like this when it starts in an interactive mode:

    <program>  Copyright (C) <year>  <name of author>

    This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'.

    This is free software, and you are welcome to redistribute it

    under certain conditions; type `show c' for details.

The hypothetical commands `show w' and `show c' should show the appropriate

parts of the General Public License.  Of course, your program's commands

might be different; for a GUI interface, you would use an "about box".

  You should also get your employer (if you work as a programmer) or school,

if any, to sign a "copyright disclaimer" for the program, if necessary.

For more information on this, and how to apply and follow the GNU GPL, see

<http://www.gnu.org/licenses/>.

  The GNU General Public License does not permit incorporating your program

into proprietary programs.  If your program is a subroutine library, you

may consider it more useful to permit linking proprietary applications with

the library.  If this is what you want to do, use the GNU Lesser General

Public License instead of this License.  But first, please read

<http://www.gnu.org/philosophy/why-not-lgpl.html>.

SET( PROJECT_NAME hlrc_client_cpp )

PROJECT( ${PROJECT_NAME} )

#debug?

set(CMAKE_BUILD_TYPE Debug)

CMAKE_MINIMUM_REQUIRED(VERSION 2.8)

INCLUDE(FindPkgConfig)

SET(HLRC_CLIENT_LIBNAME "${PROJECT_NAME}")

SET(HLRC_CLIENT_VERSION_MAJOR    "0")

SET(HLRC_CLIENT_VERSION_MINOR    "1")

SET(HLRC_CLIENT_VERSION_REVISION "0")

SET(HLRC_CLIENT_VERSION   "${HLRC_CLIENT_VERSION_MAJOR}.${HLRC_CLIENT_VERSION_MINOR}.${HLRC_CLIENT_VERSION_REVISION}")

SET(HLRC_CLIENT_SOVERSION "${HLRC_CLIENT_VERSION_MAJOR}.${HLRC_CLIENT_VERSION_MINOR}")

SET(HLRC_CLIENT_PACKAGE   "${HLRC_CLIENT_LIBNAME}-${HLRC_CLIENT_VERSION_MAJOR}.${HLRC_CLIENT_VERSION_MINOR}")

SET(PREFIX      ${CMAKE_INSTALL_PREFIX})

SET(BINDIR     "${PREFIX}/bin")

SET(INCLUDEDIR "${PREFIX}/include/hlrc_client")

SET(MANDIR     "${PREFIX}/man")

SET(LIBDIR     "${PREFIX}/lib")

SET(PKGDIR     "${PREFIX}/lib/pkgconfig")

SET(DATADIR    "${PREFIX}/share/hlrc_client")

#######################################

# check if we have RSB support:

FIND_PACKAGE(RSB 0.11)

IF (RSB_FOUND)

    #RSB

    SET(CMAKE_INSTALL_RPATH "\$ORIGIN/../lib:\$ORIGIN/")

    FIND_PACKAGE(RSC 0.11 REQUIRED)

    FIND_PACKAGE(RSB 0.11 REQUIRED)

    #RST

    FIND_PACKAGE(RST REQUIRED COMPONENTS sandbox)

    INCLUDE_DIRECTORIES(BEFORE SYSTEM ${RST_INCLUDE_DIRS})

    ADD_DEFINITIONS(${RST_CFLAGS} ${RSTSANDBOX_CFLAGS})

    INCLUDE_DIRECTORIES(BEFORE SYSTEM ${RSB_INCLUDE_DIRS})

    LIST(INSERT CMAKE_MODULE_PATH 0 ${RSC_CMAKE_MODULE_PATH})

    #RSB

    SET(CMAKE_INSTALL_RPATH "\$ORIGIN/../lib:\$ORIGIN/")

    FIND_PACKAGE(RSC 0.11 REQUIRED)

    FIND_PACKAGE(RSB 0.11 REQUIRED)

    #RST

    FIND_PACKAGE(RST REQUIRED COMPONENTS sandbox)

    INCLUDE_DIRECTORIES(BEFORE SYSTEM ${RST_INCLUDE_DIRS})

    ADD_DEFINITIONS(${RST_CFLAGS} ${RSTSANDBOX_CFLAGS})

    INCLUDE_DIRECTORIES(BEFORE SYSTEM ${RSB_INCLUDE_DIRS})

    LIST(INSERT CMAKE_MODULE_PATH 0 ${RSC_CMAKE_MODULE_PATH})

    message(STATUS "RSB Support is ON")

    add_definitions(-DRSB_SUPPORT=1)

ENDIF (RSB_FOUND)

################################################################

# check for ROS support:

find_package(catkin)

IF (catkin_FOUND)

    SET(ROS_FOUND 1)

    find_package(catkin REQUIRED COMPONENTS roscpp std_msgs sensor_msgs message_generation genmsg actionlib)

    catkin_package(

        INCLUDE_DIRS include

    )

    message(STATUS "ROS Support is ON")

    add_definitions(-DROS_SUPPORT=1)

ENDIF (catkin_FOUND)

add_definitions ("-Wall")

set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x -fstack-protector-all ")

set(ENV{PKG_CONFIG_PATH} "$ENV{PKG_CONFIG_PATH}:${CMAKE_INSTALL_PREFIX}/lib/pkgconfig" )

#search for Boost 

find_package( Boost 1.46 REQUIRED COMPONENTS thread program_options system filesystem regex)

LINK_DIRECTORIES( ${Boost_LIBRARY_DIRS}  )

include_directories(${Boost_INCLUDE_DIRS} )

message("-- using ${Boost_LIBRARIES}")

# SET(PREFIX ${CMAKE_INSTALL_PREFIX})

# SET(BINDIR "${PREFIX}/bin")

# SET(INCLUDEDIR "${PREFIX}/include")

# SET(MANDIR "${PREFIX}/man")

# SET(LIBDIR "${PREFIX}/lib")

# SET(DATADIR "${PREFIX}/share/${NAME}")

#this dummy list will make all header files appear if you use qtcreator to open the cmake project

file(GLOB HEADER_LIST RELATIVE ${CMAKE_CURRENT_SOURCE_DIR} include/*.h  )

SET(LIB_CLASSES

    src/RobotController.cpp

    src/Middleware.cpp

    src/MiddlewareROS.cpp

    src/MiddlewareRSB.cpp

)

add_library(${HLRC_CLIENT_LIBNAME} SHARED

    ${LIB_CLASSES}

    ${HEADER_LIST}

)

SET(INSTALL_HEADER_LIST

    include/RobotController.h

    include/RobotGaze.h

    include/RobotMouth.h

    include/RobotEmotion.h

    include/RobotHeadAnimation.h

)

SET_TARGET_PROPERTIES(${HLRC_CLIENT_LIBNAME} PROPERTIES VERSION ${HLRC_CLIENT_VERSION} SOVERSION ${HLRC_CLIENT_SOVERSION})

INCLUDE_DIRECTORIES(${CMAKE_CURRENT_SOURCE_DIR}/include)

LINK_DIRECTORIES(${LIBDIR})

IF (ROS_FOUND)

add_dependencies(${HLRC_CLIENT_LIBNAME} ${catkin_EXPORTED_TARGETS} hlc_server_gencpp)

ENDIF (ROS_FOUND)

target_link_libraries(${HLRC_CLIENT_LIBNAME} ${RSB_LIBRARIES} ${RST_LIBRARIES} ${catkin_LIBRARIES})

#build & install demo

#ADD_EXECUTABLE(testMarkerTracker example/testMarkerTracker.cc)

#TARGET_LINK_LIBRARIES(testMarkerTracker ${OpenCV_LIBS} ${Boost_LIBRARIES} ${Boost_LIBS} bart)

#install(TARGETS testMarkerTracker DESTINATION bin)

#build test

#ADD_EXECUTABLE(testKalmanMarker src/KalmanMarker.cc)

#TARGET_LINK_LIBRARIES(testKalmanMarker ${OpenCV_LIBS} ${Boost_LIBRARIES} ${Boost_LIBS} bart)

install (TARGETS ${HLRC_CLIENT_LIBNAME} DESTINATION lib )

INSTALL(FILES ${INSTALL_HEADER_LIST} DESTINATION ${INCLUDEDIR})

set_target_properties(${HLRC_CLIENT_LIBNAME} PROPERTIES INSTALL_RPATH ${CMAKE_INSTALL_PREFIX}/lib)

set_target_properties(${HLRC_CLIENT_LIBNAME} PROPERTIES INSTALL_RPATH_USE_LINK_PATH TRUE)

#create package config file

SET(PKGCONFIG_FILENAME "hlrc_client.pc")

configure_file("${PKGCONFIG_FILENAME}.in" "${PKGCONFIG_FILENAME}" @ONLY)

INSTALL(FILES "${CMAKE_CURRENT_BINARY_DIR}/${PKGCONFIG_FILENAME}" DESTINATION "${PKGDIR}")

#create cmake config files

SET(CMAKECONFIG_FILENAME "hlrc_clientConfig.cmake")

configure_file("${CMAKECONFIG_FILENAME}.in" "${CMAKECONFIG_FILENAME}" @ONLY)

INSTALL(FILES "${CMAKE_CURRENT_BINARY_DIR}/${CMAKECONFIG_FILENAME}" DESTINATION "${DATADIR}")

SET(CMAKECONFIGVERSION_FILENAME "hlrc_clientConfigVersion.cmake")

configure_file("${CMAKECONFIGVERSION_FILENAME}.in" "${CMAKECONFIGVERSION_FILENAME}" @ONLY)

INSTALL(FILES "${CMAKE_CURRENT_BINARY_DIR}/${CMAKECONFIGVERSION_FILENAME}" DESTINATION "${DATADIR}")

#ADD_EXECUTABLE(${PROJECT_NAME} main.cpp ${SRC_FILES})

#TARGET_LINK_LIBRARIES(${PROJECT_NAME} ${RSB_LIBRARIES} ${RST_LIBRARIES} ${OpenCV_LIBS} ${Boost_LIBRARIES} ${Boost_LIBS} ${BART_LIBRARIES} ) 

#build & install examples

ADD_EXECUTABLE(${PROJECT_NAME}_example_random_gaze examples/random_gaze/main.cpp)

TARGET_LINK_LIBRARIES(${PROJECT_NAME}_example_random_gaze ${HLRC_CLIENT_LIBNAME})

#install(TARGETS ${PROJECT_NAME}_calibrate_camera DESTINATION bin)

ADD_EXECUTABLE(${PROJECT_NAME}_example_speech_test examples/speech_test/main.cpp)

TARGET_LINK_LIBRARIES(${PROJECT_NAME}_example_speech_test ${HLRC_CLIENT_LIBNAME})

/*

* This file is part of hlrc_client

*

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

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

*

* 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.

*

*/

#include "RobotController.h"

#include "RobotGaze.h"

#include <unistd.h>

float rand_float(float min, float max){

    float f = (float)rand() / RAND_MAX;

    return min + f * (max - min);

}

int main (int argc, char **argv){

    if (argc != 3){

        printf("usage: %s <middleware> <robot scope>\n", argv[0]);

        printf("       <middleware> is either ROS or RSB\n");

	printf("       <robot scope> e.g. /flobi or /icub\n\n");

        exit(EXIT_FAILURE);

    }

    RobotController *robot_controller = new RobotController(argv[1], argv[2]); //"/flobi");

    //robot_controller->set_current_emotion(RobotEmotion(RobotEmotion::NEUTRAL));

    RobotGaze gaze;

    int count=0;

    while(1){

        if (count++ >= 50){

			//a new target every second:

			gaze.pan  = rand_float(-20.0, 20.0);

			gaze.tilt = rand_float(-20.0, 20.0);

			gaze.roll = 0.0;

			gaze.vergence = 0.0;

            //robot_controller->set_current_emotion(RobotEmotion(RobotEmotion::ANGRY));

			//reset counter

			count = 0;

		}

        robot_controller->set_gaze_target(gaze);

		usleep(1000/50 * 1000 );

    }	

}

/*

* This file is part of hlrc_client

*

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

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

*

* 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.

*

*/

#include "RobotController.h"

#include <unistd.h>

#define BLOCKING true

int main (int argc, char **argv){

    RobotController *robot_controller = new RobotController("RSB", "/flobi");

    int count=0;

    printf("> speech test starting.\n");

    robot_controller->set_speak("i will start counting now.\n", BLOCKING);

    while(1){

        std::string text = std::to_string(count++);

        printf("> saying '%s'\n",text.c_str());

        robot_controller->set_speak(text, BLOCKING);

        sleep(1);

    }

}

#pkg config file for @PROJECT_NAME@

prefix=@CMAKE_INSTALL_PREFIX@

exec_prefix=${prefix}

libdir=${prefix}/lib

includedir=${prefix}/include

Name: @PROJECT_NAME@

Description: hlrc client cpp

Version: 0.1

Requires: 

Libs: -L${libdir} -l@PROJECT_NAME@

Cflags: -I${includedir}

# ### HLRC CLIENT cpp ###

# ===============================

# 

# Sets required variables for finding the hlrc client library:

#

# HLRC_CLIENT_FOUND

# HLRC_CLIENT_INCLUDE_DIRS

# HLRC_CLIENT_LIBRARY_DIRS

# HLRC_CLIENT_LIBRARIES

# HLRC_CLIENT_VERSION

# 

# Example:

# find_package(hlrc_client 0.1)

#

# ###############################################################################

INCLUDE(FindPkgConfig)

GET_FILENAME_COMPONENT(CONFIG_DIR "${CMAKE_CURRENT_LIST_FILE}" PATH)

SET(HLRC_CLIENT_FOUND TRUE)

SET(HLRC_CLIENT_INCLUDE_DIRS "${CONFIG_DIR}/../../include")

SET(HLRC_CLIENT_LIBRARY_DIRS "${CONFIG_DIR}/../../lib")

SET(HLRC_CLIENT_VERSION "@HLRC_CLIENT_VERSION@")

SET(HLRC_CLIENT_LIBRARIES "${CONFIG_DIR}/../../lib/@CMAKE_SHARED_LIBRARY_PREFIX@@HLRC_CLIENT_LIBNAME@@CMAKE_SHARED_LIBRARY_SUFFIX@")

# TODO: find dependencies here and append their include dirs to HLRC_CLIENT_INCLUDE_DIRS

set(PACKAGE_VERSION "@HLRC_CLIENT_VERSION@")

# Check whether the requested PACKAGE_FIND_VERSION is compatible

if("${PACKAGE_VERSION}" VERSION_LESS "${PACKAGE_FIND_VERSION}")

  set(PACKAGE_VERSION_COMPATIBLE FALSE)

else()

  set(PACKAGE_VERSION_COMPATIBLE TRUE)

  if ("${PACKAGE_VERSION}" VERSION_EQUAL "${PACKAGE_FIND_VERSION}")

    set(PACKAGE_VERSION_EXACT TRUE)

  endif()

endif()

/*

* 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

//*********************************************************************************

//allow direct synthesis using inprotk calls. by default this is disabled

//until inprotk gets to an usable state (e.g. the completion flag has to work)

#define USE_INPROTK_SYNTHESIS 0

//*********************************************************************************

#include <string>

#include "RobotHeadAnimation.h"

#include "RobotEmotion.h"

#include "RobotGaze.h"

#include "RobotMouth.h"

class Middleware{

public:

    Middleware(std::string scope);

    void set_default_emotion(RobotEmotion e, bool blocking);

    void set_current_emotion(RobotEmotion e, bool blocking);

    void set_gaze_target(RobotGaze target, bool blocking);

    void set_mouth_target(RobotMouth target, bool blocking);

    void set_head_animation(RobotHeadAnimation a, bool blocking);

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

    RobotEmotion get_current_emotion();

    RobotEmotion get_default_emotion();

    RobotGaze get_gaze_target();

protected:

    virtual void init() = 0;

    virtual void publish_default_emotion(RobotEmotion e, bool blocking) = 0;

    virtual void publish_current_emotion(RobotEmotion e, bool blocking) = 0;

    virtual void publish_gaze_target(RobotGaze g, bool blocking) = 0;

    virtual void publish_mouth_target(RobotMouth m, bool blocking) = 0;

    virtual void publish_head_animation(RobotHeadAnimation a, bool blocking) = 0;

    virtual void publish_speech(std::string text, bool blocking) = 0;

    std::string base_scope;

private:

    RobotEmotion defaultEmotion;

    RobotEmotion currentEmotion;

    RobotGaze gazeTarget;

    RobotMouth mouthTarget;

    RobotHeadAnimation headAnimation;

};

/*

* 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"

#if ROS_SUPPORT

    #include "ros/ros.h"

    //ros messages

    #include <hlrc_server/phoneme.h>

    #include <hlrc_server/soundchunk.h>

    #include <hlrc_server/gazetargetAction.h>

    #include <hlrc_server/animationAction.h>

    #include <hlrc_server/mouthtargetAction.h>

    #include <hlrc_server/utteranceAction.h>

    #include <hlrc_server/emotionstateAction.h>

    #include <hlrc_server/speechAction.h>

    #include <actionlib/client/simple_action_client.h>

    #include <actionlib/client/terminal_state.h>

    #include <boost/shared_ptr.hpp>

#endif

#define ROS_ACTION_CALL_TIMEOUT 30.0

class MiddlewareROS : public Middleware{

#ifndef ROS_SUPPORT

public:

    MiddlewareRSB(std::string scope){

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

        exit(EXIT_FAILURE);

    }

#else

public:

    MiddlewareROS(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_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);

    void check_service(ros::ServiceClient *service);

    actionlib::SimpleActionClient<hlrc_server::animationAction>     *animation_ac;

    actionlib::SimpleActionClient<hlrc_server::utteranceAction>     *utterance_ac;

    actionlib::SimpleActionClient<hlrc_server::emotionstateAction>  *default_emotionstate_ac;

    actionlib::SimpleActionClient<hlrc_server::emotionstateAction>  *current_emotionstate_ac;

    actionlib::SimpleActionClient<hlrc_server::gazetargetAction>    *gazetarget_ac;

    actionlib::SimpleActionClient<hlrc_server::mouthtargetAction>    *mouthtarget_ac;

    actionlib::SimpleActionClient<hlrc_server::speechAction>     *speech_ac;

#endif

};

/*

* 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){

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

        exit(EXIT_FAILURE);

    }

#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_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

};

/*

* 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 <string>

#include "RobotEmotion.h"

#include "RobotGaze.h"

#include "RobotMouth.h"

#include "RobotHeadAnimation.h"

class Middleware;

class RobotController{

public:

    RobotController(std::string middleware, std::string scope);

    void set_default_emotion(RobotEmotion e, bool blocking=false);

    void set_current_emotion(RobotEmotion e, bool blocking=false);

    void set_gaze_target(RobotGaze target, bool blocking=false);

    RobotGaze get_gaze_target();

    void set_mouth_target(RobotMouth target, bool blocking=false);

    void set_head_animation(RobotHeadAnimation a, bool blocking=false);

    void set_speak(std::string text, bool blocking=false);

private:

    Middleware *middleware;

};

/*

* 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

class RobotEmotion{

public:

    RobotEmotion(int v=NEUTRAL){

        value = v;

        time_ms = 1000;

    }

    int value;

    static const int NEUTRAL   = 0;

    static const int HAPPY     = 1;

    static const int SAD       = 2;

    static const int ANGRY     = 3;

    static const int SURPRISED = 4;

    static const int FEAR      = 5;

    int time_ms;

};

/*

* 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

class RobotGaze{

public:

    RobotGaze(){

        pan = 0.0;

        tilt = 0.0;

        roll = 0.0;

        vergence = 0.0;