hlrc / server / src / MiddlewareRSB.cpp @ 42d7a3f5
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/*
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* This file is part of hlrc_server
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*
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* Copyright(c) sschulz <AT> techfak.uni-bielefeld.de
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* http://opensource.cit-ec.de/projects/hlrc_server
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*
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* This file may be licensed under the terms of the
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* GNU General Public License Version 3 (the ``GPL''),
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* or (at your option) any later version.
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*
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* Software distributed under the License is distributed
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* on an ``AS IS'' basis, WITHOUT WARRANTY OF ANY KIND, either
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* express or implied. See the GPL for the specific language
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* governing rights and limitations.
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*
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* You should have received a copy of the GPL along with this
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* program. If not, go to http://www.gnu.org/licenses/gpl.html
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* or write to the Free Software Foundation, Inc.,
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* 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
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*
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* The development of this software was supported by the
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* Excellence Cluster EXC 277 Cognitive Interaction Technology.
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* The Excellence Cluster EXC 277 is a grant of the Deutsche
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* Forschungsgemeinschaft (DFG) in the context of the German
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* Excellence Initiative.
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*
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*/
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#include "MiddlewareRSB.h" |
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#ifdef RSB_SUPPORT
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#include <rsb/converter/Repository.h> |
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#include <rsb/converter/ProtocolBufferConverter.h> |
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#include <cstdio> |
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//CallbackWrapper:
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#include "RSB/GazeCallbackWrapper.h" |
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#include "RSB/MouthCallbackWrapper.h" |
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#include "RSB/SpeechCallbackWrapper.h" |
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#include "RSB/UtteranceCallbackWrapper.h" |
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#include "RSB/EmotionCallbackWrapper.h" |
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#include "RSB/AnimationCallbackWrapper.h" |
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#include "RSB/UtteranceRSB.h" |
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using namespace std; |
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using namespace rsb; |
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using namespace rsb::patterns; |
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MiddlewareRSB::MiddlewareRSB(Arbiter *arbiter, std::string scope) : Middleware(arbiter, scope){
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init(); |
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} |
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MiddlewareRSB::~MiddlewareRSB(){ |
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} |
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void MiddlewareRSB::tick(){
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//nothing to do
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} |
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void MiddlewareRSB::init(){
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printf("> registering converters\n");
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//converter for EmotionState
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rsb::converter::Converter<string>::Ptr emotionStateConverter(new rsb::converter::ProtocolBufferConverter<rst::robot::EmotionState>()); |
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rsb::converter::converterRepository<string>()->registerConverter(emotionStateConverter);
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//converter for SoundChunk
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rsb::converter::Converter<string>::Ptr SoundChunkConverter(new rsb::converter::ProtocolBufferConverter<rst::audition::SoundChunk>()); |
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rsb::converter::converterRepository<string>()->registerConverter(SoundChunkConverter);
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//converter for Utterance
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rsb::converter::Converter<string>::Ptr UtteranceConverter(new rsb::converter::ProtocolBufferConverter<rst::audition::Utterance>()); |
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rsb::converter::converterRepository<string>()->registerConverter(UtteranceConverter);
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//converter for GazeTarget
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rsb::converter::Converter<string>::Ptr gazeTargetConverter(new rsb::converter::ProtocolBufferConverter<rst::robot::GazeTarget>()); |
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rsb::converter::converterRepository<string>()->registerConverter(gazeTargetConverter);
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//converter for MouthTarget
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rsb::converter::Converter<string>::Ptr mouthTargetConverter(new rsb::converter::ProtocolBufferConverter<rst::robot::MouthTarget>()); |
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rsb::converter::converterRepository<string>()->registerConverter(mouthTargetConverter);
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//converter for Animation
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rsb::converter::Converter<string>::Ptr animationConverter(new rsb::converter::ProtocolBufferConverter<rst::robot::Animation>()); |
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rsb::converter::converterRepository<string>()->registerConverter(animationConverter);
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//first get a factory instance that is used to create RSB domain objects
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Factory &factory = getFactory(); |
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//scope to listen on:
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string scope = base_scope + "/set/"; |
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//get server
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server = factory.createLocalServer(scope); |
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//get tts server:
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string tts_scope = base_scope + "/tts_provider"; |
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printf("> registering remote server on %s\n",tts_scope.c_str());
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tts_server = factory.createRemoteServer(tts_scope); |
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//create local server with parallel exec strategy (HACK!)
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rsb::ParticipantConfig config = factory.getDefaultParticipantConfig(); |
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rsc::runtime::Properties &properties = config.mutableEventReceivingStrategy().mutableOptions(); |
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properties.set<string>("parallelhandlercalls", "1"); |
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//now we can create a server with parallel execution:
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server_parallel = factory.createLocalServer(scope, config); |
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//this server will now handle/call these methods in multiple threads:
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server_parallel->registerMethod("animation", LocalServer::CallbackPtr(new AnimationCallbackWrapper(this))); |
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//initialise callbacks:
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init_callbacks(); |
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//informer->publish(gaze_target);
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printf("> MiddlewareRSB initialised\n");
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} |
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void MiddlewareRSB::init_callback(string name, LocalServer::CallbackPtr callback_ptr){ |
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printf("> init_callback(%s%s)\n", server->getScope()->toString().c_str(), name.c_str());
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server->registerMethod(name, callback_ptr); |
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} |
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void MiddlewareRSB::init_callbacks(){
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printf("> registering callbacks (rpc methods)\n");
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init_callback("speech", LocalServer::CallbackPtr(new SpeechCallbackWrapper(this))); |
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init_callback("utterance", LocalServer::CallbackPtr(new UtteranceCallbackWrapper(this))); |
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init_callback("gaze", LocalServer::CallbackPtr(new GazeCallbackWrapper(this))); |
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init_callback("mouth", LocalServer::CallbackPtr(new MouthCallbackWrapper(this))); |
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EmotionCallbackWrapper *emotion_cb = new EmotionCallbackWrapper(this); |
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init_callback("defaultEmotion", LocalServer::CallbackPtr(emotion_cb));
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init_callback("currentEmotion", LocalServer::CallbackPtr(emotion_cb));
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} |
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//call a tts system to convert a string to an utterance
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boost::shared_ptr<Utterance> MiddlewareRSB::tts_call(string text){
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double tts_timeout = 1.0; //seconds. DO NOT CHANGE THIS! |
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//build request
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boost::shared_ptr<std::string> request(new string(text)); |
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//try to fetch it asynchronously:
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try{
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RemoteServer::DataFuture<rst::audition::^> future_ptr = tts_server->callAsync<rst::audition::Utterance>("create_utterance", request);
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//try to fetch the result
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boost::shared_ptr<rst::audition::Utterance> utterance_ptr = future_ptr.get(tts_timeout); |
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//done, return utterance ptr
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boost::shared_ptr<Utterance> utterance(new UtteranceRSB(*(utterance_ptr.get())));
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printf("> done. got utterance (text=%s)\n",utterance->get_text().c_str());
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return utterance;
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}catch(rsc::threading::FutureTimeoutException e){
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printf("> error: tts_call timed out after %3.1f seconds.\n", tts_timeout);
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}catch(rsc::threading::FutureTaskExecutionException e){
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printf("> error: tts_call failed: %s\n", e.what());
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} |
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printf("> failed... got no utterance\n");
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boost::shared_ptr<Utterance> utterance(new Utterance());
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return utterance;
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} |
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#endif
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