hlrc

/*

* This file is part of hlrc_server

*

* 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.

*

*/

#pragma once

#include "Middleware.h"

#ifdef RSB_SUPPORT

    #define BOOST_SIGNALS_NO_DEPRECATION_WARNING 1

    #include <rsb/Listener.h>

    #include <rsb/patterns/LocalServer.h>

    #include <rsb/patterns/RemoteServer.h>

#endif

class MiddlewareRSB : public Middleware{

#ifndef RSB_SUPPORT

public:

    MiddlewareRSB(Arbiter *a, std::string _base_scope) : Middleware(a, _base_scope){

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

        exit(EXIT_FAILURE);

    }

    ~MiddlewareRSB(){}

    void init(){};

    void tick(){};

    Utterance tts_call(std::string text){

        return Utterance();

    }

#else

public:

    MiddlewareRSB(Arbiter *a, std::string _base_scope);

    ~MiddlewareRSB();

    void init();

    void tick();

    Utterance tts_call(std::string text);

private:

    void init_callbacks();

    void init_callback(std::string name, rsb::patterns::LocalServer::CallbackPtr callback_ptr);

    rsb::patterns::LocalServerPtr server;

    rsb::patterns::LocalServerPtr server_parallel;

    rsb::patterns::RemoteServerPtr tts_server;

    rsb::ListenerPtr speak_listener;

#endif

};