hlrc / server / src / MiddlewareRSB.cpp @ 42d7a3f5
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1 | 0c286af0 | Simon Schulz | /*
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2 | * This file is part of hlrc_server
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3 | *
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4 | * Copyright(c) sschulz <AT> techfak.uni-bielefeld.de
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5 | * http://opensource.cit-ec.de/projects/hlrc_server
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6 | *
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7 | * This file may be licensed under the terms of the
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8 | * GNU General Public License Version 3 (the ``GPL''),
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9 | * or (at your option) any later version.
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10 | *
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11 | * Software distributed under the License is distributed
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12 | * on an ``AS IS'' basis, WITHOUT WARRANTY OF ANY KIND, either
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13 | * express or implied. See the GPL for the specific language
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14 | * governing rights and limitations.
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15 | *
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16 | * You should have received a copy of the GPL along with this
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17 | * program. If not, go to http://www.gnu.org/licenses/gpl.html
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18 | * or write to the Free Software Foundation, Inc.,
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19 | * 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
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20 | *
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21 | * The development of this software was supported by the
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22 | * Excellence Cluster EXC 277 Cognitive Interaction Technology.
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23 | * The Excellence Cluster EXC 277 is a grant of the Deutsche
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24 | * Forschungsgemeinschaft (DFG) in the context of the German
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25 | * Excellence Initiative.
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26 | *
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27 | */
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28 | |||
29 | #include "MiddlewareRSB.h" |
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30 | |||
31 | #ifdef RSB_SUPPORT
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32 | #include <rsb/converter/Repository.h> |
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33 | #include <rsb/converter/ProtocolBufferConverter.h> |
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34 | #include <cstdio> |
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35 | |||
36 | //CallbackWrapper:
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37 | #include "RSB/GazeCallbackWrapper.h" |
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38 | #include "RSB/MouthCallbackWrapper.h" |
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39 | #include "RSB/SpeechCallbackWrapper.h" |
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40 | #include "RSB/UtteranceCallbackWrapper.h" |
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41 | #include "RSB/EmotionCallbackWrapper.h" |
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42 | #include "RSB/AnimationCallbackWrapper.h" |
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43 | #include "RSB/UtteranceRSB.h" |
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44 | using namespace std; |
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45 | using namespace rsb; |
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46 | using namespace rsb::patterns; |
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47 | |||
48 | MiddlewareRSB::MiddlewareRSB(Arbiter *arbiter, std::string scope) : Middleware(arbiter, scope){
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49 | init(); |
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50 | } |
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51 | |||
52 | MiddlewareRSB::~MiddlewareRSB(){ |
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53 | |||
54 | } |
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55 | |||
56 | void MiddlewareRSB::tick(){
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57 | //nothing to do
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58 | } |
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59 | |||
60 | void MiddlewareRSB::init(){
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61 | printf("> registering converters\n");
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62 | |||
63 | //converter for EmotionState
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64 | rsb::converter::Converter<string>::Ptr emotionStateConverter(new rsb::converter::ProtocolBufferConverter<rst::robot::EmotionState>()); |
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65 | rsb::converter::converterRepository<string>()->registerConverter(emotionStateConverter);
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66 | |||
67 | //converter for SoundChunk
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68 | rsb::converter::Converter<string>::Ptr SoundChunkConverter(new rsb::converter::ProtocolBufferConverter<rst::audition::SoundChunk>()); |
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69 | rsb::converter::converterRepository<string>()->registerConverter(SoundChunkConverter);
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70 | |||
71 | //converter for Utterance
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72 | rsb::converter::Converter<string>::Ptr UtteranceConverter(new rsb::converter::ProtocolBufferConverter<rst::audition::Utterance>()); |
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73 | rsb::converter::converterRepository<string>()->registerConverter(UtteranceConverter);
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74 | |||
75 | //converter for GazeTarget
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76 | rsb::converter::Converter<string>::Ptr gazeTargetConverter(new rsb::converter::ProtocolBufferConverter<rst::robot::GazeTarget>()); |
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77 | rsb::converter::converterRepository<string>()->registerConverter(gazeTargetConverter);
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78 | |||
79 | //converter for MouthTarget
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80 | rsb::converter::Converter<string>::Ptr mouthTargetConverter(new rsb::converter::ProtocolBufferConverter<rst::robot::MouthTarget>()); |
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81 | rsb::converter::converterRepository<string>()->registerConverter(mouthTargetConverter);
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82 | |||
83 | //converter for Animation
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84 | rsb::converter::Converter<string>::Ptr animationConverter(new rsb::converter::ProtocolBufferConverter<rst::robot::Animation>()); |
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85 | rsb::converter::converterRepository<string>()->registerConverter(animationConverter);
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86 | |||
87 | //first get a factory instance that is used to create RSB domain objects
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88 | Factory &factory = getFactory(); |
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89 | |||
90 | //scope to listen on:
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91 | string scope = base_scope + "/set/"; |
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92 | |||
93 | //get server
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94 | server = factory.createLocalServer(scope); |
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95 | |||
96 | //get tts server:
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97 | string tts_scope = base_scope + "/tts_provider"; |
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98 | printf("> registering remote server on %s\n",tts_scope.c_str());
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99 | tts_server = factory.createRemoteServer(tts_scope); |
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100 | |||
101 | |||
102 | //create local server with parallel exec strategy (HACK!)
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103 | rsb::ParticipantConfig config = factory.getDefaultParticipantConfig(); |
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104 | rsc::runtime::Properties &properties = config.mutableEventReceivingStrategy().mutableOptions(); |
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105 | properties.set<string>("parallelhandlercalls", "1"); |
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106 | |||
107 | //now we can create a server with parallel execution:
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108 | server_parallel = factory.createLocalServer(scope, config); |
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109 | |||
110 | //this server will now handle/call these methods in multiple threads:
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111 | server_parallel->registerMethod("animation", LocalServer::CallbackPtr(new AnimationCallbackWrapper(this))); |
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112 | |||
113 | //initialise callbacks:
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114 | init_callbacks(); |
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115 | |||
116 | //informer->publish(gaze_target);
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117 | printf("> MiddlewareRSB initialised\n");
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118 | } |
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119 | |||
120 | void MiddlewareRSB::init_callback(string name, LocalServer::CallbackPtr callback_ptr){ |
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121 | printf("> init_callback(%s%s)\n", server->getScope()->toString().c_str(), name.c_str());
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122 | server->registerMethod(name, callback_ptr); |
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123 | } |
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124 | |||
125 | void MiddlewareRSB::init_callbacks(){
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126 | printf("> registering callbacks (rpc methods)\n");
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127 | |||
128 | init_callback("speech", LocalServer::CallbackPtr(new SpeechCallbackWrapper(this))); |
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129 | init_callback("utterance", LocalServer::CallbackPtr(new UtteranceCallbackWrapper(this))); |
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130 | init_callback("gaze", LocalServer::CallbackPtr(new GazeCallbackWrapper(this))); |
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131 | init_callback("mouth", LocalServer::CallbackPtr(new MouthCallbackWrapper(this))); |
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132 | |||
133 | EmotionCallbackWrapper *emotion_cb = new EmotionCallbackWrapper(this); |
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134 | init_callback("defaultEmotion", LocalServer::CallbackPtr(emotion_cb));
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135 | init_callback("currentEmotion", LocalServer::CallbackPtr(emotion_cb));
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136 | } |
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137 | |||
138 | //call a tts system to convert a string to an utterance
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139 | 2e526a15 | Simon Schulz | boost::shared_ptr<Utterance> MiddlewareRSB::tts_call(string text){
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140 | 0c286af0 | Simon Schulz | double tts_timeout = 1.0; //seconds. DO NOT CHANGE THIS! |
141 | |||
142 | //build request
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143 | boost::shared_ptr<std::string> request(new string(text)); |
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144 | |||
145 | //try to fetch it asynchronously:
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146 | try{
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147 | 0c15613f | Simon Schulz | RemoteServer::DataFuture<rst::audition::^> future_ptr = tts_server->callAsync<rst::audition::Utterance>("create_utterance", request);
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148 | 0c286af0 | Simon Schulz | |
149 | //try to fetch the result
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150 | boost::shared_ptr<rst::audition::Utterance> utterance_ptr = future_ptr.get(tts_timeout); |
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151 | 2e526a15 | Simon Schulz | |
152 | //done, return utterance ptr
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153 | boost::shared_ptr<Utterance> utterance(new UtteranceRSB(*(utterance_ptr.get())));
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154 | printf("> done. got utterance (text=%s)\n",utterance->get_text().c_str());
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155 | return utterance;
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156 | 0c286af0 | Simon Schulz | |
157 | }catch(rsc::threading::FutureTimeoutException e){
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158 | printf("> error: tts_call timed out after %3.1f seconds.\n", tts_timeout);
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159 | }catch(rsc::threading::FutureTaskExecutionException e){
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160 | printf("> error: tts_call failed: %s\n", e.what());
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161 | } |
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162 | |||
163 | 2e526a15 | Simon Schulz | printf("> failed... got no utterance\n");
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164 | boost::shared_ptr<Utterance> utterance(new Utterance());
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165 | 0c286af0 | Simon Schulz | return utterance;
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166 | } |
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167 | |||
168 | #endif |