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

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

// 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_lookat_target(float x, float y, float z, const std::string frame_id, bool blocking, float roll);

        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_lookat_target(float x, float y, float z, const std::string frame_id, bool blocking, float roll) = 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;

};