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 ROS_SUPPORT

#include "ros/ros.h"

#include <actionlib/client/simple_action_client.h>

#include <tf2_ros/transform_listener.h>

// messages

#include "hlrc_server/phoneme.h"

#include "hlrc_server/soundchunk.h"

#include "hlrc_server/utterance.h"

// actions

#include "hlrc_server/gazetargetAction.h"

#include "hlrc_server/lookattargetAction.h"

#include "hlrc_server/ttsAction.h"

#include "ROS/GazeCallbackWrapperROS.h"

#include "ROS/LookatCallbackWrapperROS.h"

#include "ROS/MouthCallbackWrapperROS.h"

#include "ROS/UtteranceCallbackWrapperROS.h"

#include "ROS/EmotionCallbackWrapperROS.h"

#include "ROS/AnimationCallbackWrapperROS.h"

#include "ROS/SpeechCallbackWrapperROS.h"

#endif

#include <memory>

#define ROS_ACTION_CALL_TIMEOUT 30.0

class MiddlewareROS : public Middleware {

#ifndef ROS_SUPPORT

public:

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

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

                exit(EXIT_FAILURE);

        }

        ~MiddlewareROS() {

        }

        void init(){};

        void tick(){};

        std::shared_ptr<Utterance> tts_call(std::string text) {

                return std::shared_ptr<Utterance>(new Utterance());

        }

#else

public:

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

        ~MiddlewareROS();

        void init();

        void tick();

        std::shared_ptr<Utterance> tts_call(std::string text);

private:

        // std::shared_ptr<ros::NodeHandle> node_handle;

        ros::NodeHandle* ros_node_handle;

        bool tick_necessary;

        // listen to tf tree

        tf2_ros::Buffer tfBuffer;

        std::shared_ptr<tf2_ros::TransformListener> tfListener;

        // FIXME: These pointers are never destroyed. Shouldn't they be shared_ptrs?

        AnimationCallbackWrapper* animation_action_server;

        UtteranceCallbackWrapper* utterance_action_server;

        EmotionCallbackWrapper* current_emotion_action_server;

        EmotionCallbackWrapper* default_emotion_action_server;

        GazeCallbackWrapper* gaze_action_server;

        LookatCallbackWrapper* lookat_action_server;

        MouthCallbackWrapper* mouth_action_server;

        SpeechCallbackWrapper* speech_action_server;

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

#endif

};