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.

*

*/

#include "MiddlewareROS.h"

#ifdef ROS_SUPPORT

#include <cstdio>

//CallbackWrapper:

#include <boost/range/algorithm/remove_if.hpp>

#include <boost/algorithm/string/classification.hpp>

#include <actionlib/client/simple_action_client.h>

#include "ROS/UtteranceROS.h"

using namespace std;

using namespace hlrc_server;

template <typename actionspec>

actionlib::SimpleActionClient<actionspec> * create_action_client(string scope){

    printf("> starting SimpleActionClient on %s\n",scope.c_str());

    actionlib::SimpleActionClient<actionspec> *ac = new actionlib::SimpleActionClient<actionspec>(scope, true);

    if (!ac->waitForServer(ros::Duration(1))){

        printf("> ERROR: action service %s not ready, wait timed out...\n", scope.c_str());

        return NULL;

    }

    return ac;

}

MiddlewareROS::MiddlewareROS(Arbiter *arbiter, std::string scope) : Middleware(arbiter, scope){

    init();

}

MiddlewareROS::~MiddlewareROS(){

}

void MiddlewareROS::init(){

    string scope = base_scope + "/set/";

    string node_name = "hlrc_server__"+ base_scope;

    node_name.erase(boost::remove_if(node_name, boost::is_any_of("/")), node_name.end());

    printf("> registering on ROS as node %s\n",node_name.c_str());

    if (ros::isInitialized()){

        //ros is already active, no need to take care of that

        //FIXME: Instead of deciding based on ros::isInitialized() to tick or not,

        //we shoud use our own MessageQueue and AsyncSpinner.

        tick_necessary = false;

    }else{

        printf("> ROS not initialized, calling ros::init()\n");

        ros::M_string no_remapping;

        ros::init(no_remapping, node_name);

        tick_necessary = true;

    }

    //create node handle

    //printf("> creating ros node handle\n");

    //ros::NodeHa

    ros::NodeHandle n;

    printf("> setting up ROS services...\n");

    //ros::AsyncSpinner *spinner = new ros::AsyncSpinner(4); // Use 4 threads

    //spinner->start();

    tfListener.reset(new tf2_ros::TransformListener(tfBuffer));

    tfBuffer.clear();

    animation_action_server = new AnimationCallbackWrapper(this, scope, "animation");

    utterance_action_server = new UtteranceCallbackWrapper(this, scope, "utterance");

    current_emotion_action_server = new EmotionCallbackWrapper(this, scope, "currentEmotion");

    default_emotion_action_server = new EmotionCallbackWrapper(this, scope, "defaultEmotion");

    gaze_action_server = new GazeCallbackWrapper(this, scope, "gaze");

    lookat_action_server = new LookatCallbackWrapper(this, scope, "lookat", tfBuffer);

    mouth_action_server = new MouthCallbackWrapper(this, scope, "mouth");

    speech_action_server = new SpeechCallbackWrapper(this, scope, "speech");

    //create tts client

    tts_ac = create_action_client<hlrc_server::ttsAction>(base_scope + "/tts_provider");

    if (tts_ac == NULL){

        printf("> tts action service not available, will not do any TTS !\n");

    }

    printf("> init done\n");

}

void MiddlewareROS::tick(){

    if (tick_necessary){

        ros::spinOnce();

    }

}

//call a tts system to convert a string to an utterance

boost::shared_ptr<Utterance> MiddlewareROS::tts_call(string text){

    boost::shared_ptr<Utterance> utterance(new Utterance());

    //double tts_timeout = 1.0; //seconds. DO NOT CHANGE THIS!

    if (tts_ac == NULL){

        printf("> tts action service not available. will not speak '%s'\n", text.c_str());

        return utterance;

    }

    hlrc_server::ttsGoal goal;

    goal.text = text;

    //send

    tts_ac->sendGoal(goal);

    //call ros:

    bool finished_before_timeout = tts_ac->waitForResult(ros::Duration(ROS_ACTION_CALL_TIMEOUT));

    if (!finished_before_timeout){

        printf("> ERROR: NO REPLY to utterance action call received within %4.2f s\n",ROS_ACTION_CALL_TIMEOUT);

    }else{

        //done, return utterance ptr

        ttsResultConstPtr tts_res = tts_ac->getResult();

        boost::shared_ptr<Utterance> utterance(new UtteranceROS(tts_res));

        printf("> done. got utterance (text=%s)\n",utterance->get_text().c_str());

        return utterance;

    }

    printf("> failed... got no utterance\n");

    return utterance;

}

#endif