Revision 4bd3e852
| client/cpp/hlrc_clientConfigVersion.cmake.in | ||
|---|---|---|
| 1 |
set(PACKAGE_VERSION "@HLRC_CLIENT_VERSION@") |
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| 3 |
# Check whether the requested PACKAGE_FIND_VERSION is compatible |
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if("${PACKAGE_VERSION}" VERSION_LESS "${PACKAGE_FIND_VERSION}")
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set(PACKAGE_VERSION_COMPATIBLE FALSE) |
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else() |
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set(PACKAGE_VERSION_COMPATIBLE TRUE) |
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| 8 |
if ("${PACKAGE_VERSION}" VERSION_EQUAL "${PACKAGE_FIND_VERSION}")
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set(PACKAGE_VERSION_EXACT TRUE) |
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| 10 |
endif() |
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| 11 |
endif() |
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set(PACKAGE_VERSION "@HLRC_CLIENT_VERSION@") |
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| 2 |
|
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| 3 |
# Check whether the requested PACKAGE_FIND_VERSION is compatible |
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| 4 |
if("${PACKAGE_VERSION}" VERSION_LESS "${PACKAGE_FIND_VERSION}")
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set(PACKAGE_VERSION_COMPATIBLE FALSE) |
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else() |
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set(PACKAGE_VERSION_COMPATIBLE TRUE) |
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| 8 |
if ("${PACKAGE_VERSION}" VERSION_EQUAL "${PACKAGE_FIND_VERSION}")
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set(PACKAGE_VERSION_EXACT TRUE) |
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endif() |
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endif() |
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| client/cpp/src/MiddlewareROS.cpp | ||
|---|---|---|
| 25 | 25 |
* Excellence Initiative. |
| 26 | 26 |
* |
| 27 | 27 |
*/ |
| 28 |
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|
| 29 | 28 |
#ifdef ROS_SUPPORT |
| 30 | 29 |
|
| 31 | 30 |
#include "MiddlewareROS.h" |
| ... | ... | |
| 263 | 262 |
} |
| 264 | 263 |
|
| 265 | 264 |
#endif |
| 265 |
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| client/cpp/src/RobotController.cpp | ||
|---|---|---|
| 28 | 28 |
|
| 29 | 29 |
#include "RobotController.h" |
| 30 | 30 |
#include "Middleware.h" |
| 31 |
#include "MiddlewareRSB.h" |
|
| 32 | 31 |
#include "MiddlewareROS.h" |
| 32 |
#include "MiddlewareRSB.h" |
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| 33 |
|
|
| 33 | 34 |
using namespace std; |
| 34 | 35 |
|
| 35 | 36 |
RobotController::RobotController(string mw_name, string base_scope){
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| 36 |
if (mw_name == "ROS"){
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| 37 |
//intantiate ROS mw |
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middleware = new MiddlewareROS(base_scope); |
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| 39 |
}else if (mw_name == "RSB"){
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| 40 |
//intantiate RSB mw |
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middleware = new MiddlewareRSB(base_scope); |
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| 38 |
if (mw_name == "ROS"){
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//intantiate ROS mw |
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middleware = new MiddlewareROS(base_scope); |
|
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}else if (mw_name == "RSB"){
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//intantiate RSB mw |
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middleware = new MiddlewareRSB(base_scope); |
|
| 42 | 44 |
}else{
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printf("ERROR: invalid middleware requested (%s). supported: {ROS, RSB}\n\n", mw_name.c_str());
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printf("ERROR: invalid middleware requested (%s). supported: {ROS, RSB}\n\n", mw_name.c_str());
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| 44 | 46 |
exit(EXIT_FAILURE); |
| 45 | 47 |
} |
| 46 | 48 |
} |
| client/python/tools/dump_relative_gazetargets.py | ||
|---|---|---|
| 11 | 11 |
small code snippet to dump humotion relative gaze targets |
| 12 | 12 |
combined with the current gaze direction from tf |
| 13 | 13 |
""" |
| 14 |
USE_MEKA_TOPICS=False
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| 14 |
USE_MEKA_TOPICS=True
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| 15 | 15 |
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humotion_gaze_topic = "/flobi/humotion/gaze/target" |
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tf_topic_base = "BASE_LINK" |
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tf_topic_gaze_l = "EYES_LEFT_UD_VIRTUAL_LINK" |
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tf_topic_gaze_r = "EYES_RIGHT_UD_VIRTUAL_LINK" |
|
| 20 | 16 |
|
| 21 | 17 |
#joint targets |
| 22 | 18 |
if USE_MEKA_TOPICS: |
| 19 |
humotion_gaze_topic = "/flobi/humotion/gaze/target" |
|
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tf_topic_base = "BASE_LINK" |
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| 21 |
tf_topic_gaze_l = "EYES_LEFT_UD_VIRTUAL_LINK" |
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tf_topic_gaze_r = "EYES_RIGHT_UD_VIRTUAL_LINK" |
|
| 23 | 23 |
from trajectory.msg import * |
| 24 | 24 |
topic_joint_target = "/meka_roscontrol/head_position_trajectory_controller/command" |
| 25 | 25 |
else: |
| 26 |
humotion_gaze_topic = "/flobi/humotion/gaze/target" |
|
| 27 |
tf_topic_base = "BASE_LINK" |
|
| 28 |
tf_topic_gaze_l = "EYES_LEFT_UD_VIRTUAL_LINK" |
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tf_topic_gaze_r = "EYES_RIGHT_UD_VIRTUAL_LINK" |
|
| 26 | 30 |
from xsc3_server.msg import * |
| 27 | 31 |
topic_joint_target = "/xsc3/custom_joint_state" |
| 28 | 32 |
|
| server/include/RSB/AnimationCallbackWrapper.h | ||
|---|---|---|
| 31 | 31 |
#include "Animation.h" |
| 32 | 32 |
|
| 33 | 33 |
//callback handler incoming animation requests: |
| 34 |
class AnimationCallbackWrapper : public CallbackWrapper<rst::robot::Animation>{
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class AnimationCallbackWrapper : public CallbackWrapper<rst::animation::HeadAnimation>{
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| 35 | 35 |
public: |
| 36 | 36 |
AnimationCallbackWrapper(Middleware *mw) : CallbackWrapper(mw){}
|
| 37 | 37 |
|
| 38 |
void call(const std::string& method_name, boost::shared_ptr<rst::robot::Animation> input){
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| 38 |
void call(const std::string& method_name, boost::shared_ptr<rst::animation::HeadAnimation> input){
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| 39 | 39 |
printf("> incomint animation (method = %s)\n",method_name.c_str());
|
| 40 | 40 |
|
| 41 | 41 |
//fetch animation passed by rsb: |
| 42 |
rst::robot::Animation *rst_ani = input.get();
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| 42 |
rst::animation::HeadAnimation *rst_ani = input.get();
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| 43 | 43 |
boost::shared_ptr<Animation> ani(new Animation()); |
| 44 | 44 |
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| 45 |
switch ((int) rst_ani->target()){
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| 46 |
case(rst_ani->IDLE): ani->target = Animation::IDLE; break; |
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| 47 |
case(rst_ani->HEAD_NOD): ani->target = Animation::HEAD_NOD; break; |
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| 48 |
case(rst_ani->HEAD_SHAKE): ani->target = Animation::HEAD_SHAKE; break; |
|
| 49 |
case(rst_ani->EYEBLINK_L): ani->target = Animation::EYEBLINK_L; break; |
|
| 50 |
case(rst_ani->EYEBLINK_R): ani->target = Animation::EYEBLINK_R; break; |
|
| 51 |
case(rst_ani->EYEBLINK_BOTH):ani->target = Animation::EYEBLINK_BOTH; break; |
|
| 52 |
case(rst_ani->EYEBROWS_RAISE):ani->target = Animation::EYEBROWS_RAISE;break; |
|
| 53 |
case(rst_ani->EYEBROWS_LOWER):ani->target = Animation::EYEBROWS_LOWER;break; |
|
| 45 |
switch ((int) rst_ani->animation()){
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| 46 |
case(rst_ani->IDLE): ani->target = Animation::IDLE; break; |
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| 47 |
case(rst_ani->HEAD_NOD): ani->target = Animation::HEAD_NOD; break; |
|
| 48 |
case(rst_ani->HEAD_SHAKE): ani->target = Animation::HEAD_SHAKE; break; |
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| 49 |
case(rst_ani->EYEBLINK_LEFT): ani->target = Animation::EYEBLINK_L; break; |
|
| 50 |
case(rst_ani->EYEBLINK_RIGHT): ani->target = Animation::EYEBLINK_R; break; |
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| 51 |
case(rst_ani->EYEBLINK_BOTH): ani->target = Animation::EYEBLINK_BOTH; break; |
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| 52 |
case(rst_ani->EYEBROWS_RAISE): ani->target = Animation::EYEBROWS_RAISE;break; |
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| 53 |
case(rst_ani->EYEBROWS_LOWER): ani->target = Animation::EYEBROWS_LOWER;break; |
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| 54 |
case(rst_ani->ENGAGEMENT_LEFT): ani->target = Animation::ENGAGEMENT_LEFT;break; |
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| 55 |
case(rst_ani->ENGAGEMENT_RIGHT): ani->target = Animation::ENGAGEMENT_RIGHT;break; |
|
| 54 | 56 |
default: |
| 55 | 57 |
ani->target = Animation::IDLE; |
| 56 |
printf("> unhandled animatin target %d\n",(int)rst_ani->target());
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| 58 |
printf("> unhandled animatin target %d\n",(int)rst_ani->animation());
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| 57 | 59 |
throw std::runtime_error("AnimationCallback: invalid animation id");
|
| 58 | 60 |
return; |
| 59 | 61 |
} |
| 60 | 62 |
ani->repetitions = rst_ani->repetitions(); |
| 61 | 63 |
ani->duration_each = rst_ani->duration_each(); |
| 62 |
ani->scale = rst_ani->scale(); |
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ani->scale = rst_ani->emphasis_scale();
|
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| 63 | 65 |
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| 64 | 66 |
printf("> new Animation: %s\n", ani->as_string().c_str());
|
| 65 | 67 |
|
| server/include/RSB/CallbackWrapper.h | ||
|---|---|---|
| 28 | 28 |
|
| 29 | 29 |
#pragma once |
| 30 | 30 |
#include "Middleware.h" |
| 31 |
#include <rst/robot/EmotionState.pb.h>
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| 32 |
#include <rst/robot/GazeTarget.pb.h>
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| 33 |
#include <rst/robot/MouthTarget.pb.h>
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#include <rst/robot/Animation.pb.h>
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| 31 |
//#include <rst/robot/MouthTarget.pb.h>
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#include <rst/animation/EmotionExpression.pb.h>
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#include <rst/animation/BinocularHeadGaze.pb.h>
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#include <rst/animation/HeadAnimation.pb.h>
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| 35 | 35 |
#include <rst/audition/Utterance.pb.h> |
| 36 | 36 |
#include <rst/audition/SoundChunk.pb.h> |
| 37 | 37 |
#include <rsb/Factory.h> |
| server/include/RSB/EmotionCallbackWrapper.h | ||
|---|---|---|
| 30 | 30 |
#include "CallbackWrapper.h" |
| 31 | 31 |
|
| 32 | 32 |
//callback handler incoming emotion requests: |
| 33 |
class EmotionCallbackWrapper : public CallbackWrapper<rst::robot::EmotionState>{
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class EmotionCallbackWrapper : public CallbackWrapper<rst::animation::EmotionExpression>{
|
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| 34 | 34 |
public: |
| 35 | 35 |
EmotionCallbackWrapper(Middleware *mw) : CallbackWrapper(mw){}
|
| 36 | 36 |
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void call(const std::string& method_name, boost::shared_ptr<rst::robot::EmotionState> input){
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printf("> incoming emotion (%s = %d)\n", method_name.c_str(),(int)input->value());
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void call(const std::string& method_name, boost::shared_ptr<rst::animation::EmotionExpression> input){
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printf("> incoming emotion (%s = %d)\n", method_name.c_str(),(int)input->emotion());
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| 39 | 39 |
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| 40 | 40 |
EmotionState emotion_state; |
| 41 |
rst::robot::EmotionState *emotion = input.get();
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rst::animation::EmotionExpression *emotion = input.get();
|
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| 42 | 42 |
|
| 43 | 43 |
//extract data & copy it to our datatype (might be good when we allow multiple middlewares in the feature) |
| 44 |
switch ((int)emotion->value()){
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case(rst::robot::EmotionState_EmotionType_NEUTRAL): emotion_state.value = EmotionConfig::NEUTRAL; break;
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case(rst::robot::EmotionState_EmotionType_HAPPY): emotion_state.value = EmotionConfig::HAPPY; break;
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case(rst::robot::EmotionState_EmotionType_SAD): emotion_state.value = EmotionConfig::SAD; break;
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case(rst::robot::EmotionState_EmotionType_ANGRY): emotion_state.value = EmotionConfig::ANGRY; break;
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case(rst::robot::EmotionState_EmotionType_SURPRISED): emotion_state.value = EmotionConfig::SURPRISED; break;
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case(rst::robot::EmotionState_EmotionType_FEAR): emotion_state.value = EmotionConfig::FEAR; break;
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switch ((int)emotion->emotion()){
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case(rst::animation::EmotionExpression_Emotion_NEUTRAL): emotion_state.value = EmotionConfig::NEUTRAL; break;
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case(rst::animation::EmotionExpression_Emotion_HAPPY): emotion_state.value = EmotionConfig::HAPPY; break;
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case(rst::animation::EmotionExpression_Emotion_SAD): emotion_state.value = EmotionConfig::SAD; break;
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case(rst::animation::EmotionExpression_Emotion_ANGRY): emotion_state.value = EmotionConfig::ANGRY; break;
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case(rst::animation::EmotionExpression_Emotion_SURPRISED): emotion_state.value = EmotionConfig::SURPRISED; break;
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case(rst::animation::EmotionExpression_Emotion_FEAR): emotion_state.value = EmotionConfig::FEAR; break;
|
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| 51 | 51 |
default: |
| 52 |
printf("> invalid EmotionState value. exiting\n"); exit(EXIT_FAILURE);
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printf("> invalid EmotionExpression emotion value. exiting\n"); exit(EXIT_FAILURE);
|
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| 53 | 53 |
} |
| 54 | 54 |
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| 55 | 55 |
emotion_state.duration = emotion->duration(); |
| server/include/RSB/GazeCallbackWrapper.h | ||
|---|---|---|
| 30 | 30 |
#include "CallbackWrapper.h" |
| 31 | 31 |
|
| 32 | 32 |
//callback handler incoming gaze requests: |
| 33 |
class GazeCallbackWrapper : public CallbackWrapper<rst::robot::GazeTarget>{
|
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| 33 |
class GazeCallbackWrapper : public CallbackWrapper<rst::animation::BinocularHeadGaze>{
|
|
| 34 | 34 |
public: |
| 35 | 35 |
GazeCallbackWrapper(Middleware *mw) : CallbackWrapper(mw){}
|
| 36 |
void call(const std::string& method_name, boost::shared_ptr<rst::robot::GazeTarget> input){
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| 37 |
rst::robot::GazeTarget *gaze = input.get();
|
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| 36 |
void call(const std::string& method_name, boost::shared_ptr<rst::animation::BinocularHeadGaze> input){
|
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| 37 |
rst::animation::BinocularHeadGaze *gaze = input.get();
|
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| 38 | 38 |
//printf("> incoming gaze (p=%3.1f t=%3.1f r=%3.1f / v=%3.1f)\n", gaze->pan(), gaze->tilt(), gaze->roll(), gaze->vergence());
|
| 39 | 39 |
|
| 40 | 40 |
humotion::GazeState gaze_state; |
| 41 | 41 |
|
| 42 | 42 |
//fill in gaze |
| 43 |
gaze_state.pan = gaze->pan(); |
|
| 44 |
gaze_state.tilt = gaze->tilt(); |
|
| 45 |
gaze_state.roll = gaze->roll(); |
|
| 43 |
gaze_state.pan = gaze->target().azimuth(); |
|
| 44 |
gaze_state.tilt = gaze->target().elevation(); |
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| 45 |
gaze_state.roll = 0.0; |
|
| 46 |
|
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| 46 | 47 |
//RSB supports only absolute targets for now... |
| 47 | 48 |
gaze_state.timestamp = 123.45; //FIXME!! |
| 48 |
gaze_state.type = humotion::GazeState::ABSOLUTE; |
|
| 49 |
gaze_state.gaze_type = humotion::GazeState::GAZETYPE_ABSOLUTE; |
|
| 50 |
|
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| 49 | 51 |
//vergence |
| 50 |
gaze_state.vergence = (gaze->has_vergence())?gaze->vergence():0.0; |
|
| 52 |
gaze_state.vergence = (gaze->has_eye_vergence())?gaze->eye_vergence():0.0; |
|
| 53 |
|
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| 51 | 54 |
//offsets |
| 52 |
gaze_state.pan_offset = (gaze->has_pan_offset())?gaze->pan_offset():0.0;
|
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| 53 |
gaze_state.tilt_offset = (gaze->has_tilt_offset())?gaze->tilt_offset():0.0;
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| 54 |
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| 55 |
gaze_state.pan_offset = (gaze->has_offset())?gaze->offset().azimuth():0.0;
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| 56 |
gaze_state.tilt_offset = (gaze->has_offset())?gaze->offset().elevation():0.0;
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| 57 |
|
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| 55 | 58 |
//send to application: |
| 56 | 59 |
mw->gaze_callback(gaze_state); |
| 57 | 60 |
} |
| server/include/RSB/MouthCallbackWrapper.h | ||
|---|---|---|
| 28 | 28 |
|
| 29 | 29 |
#pragma once |
| 30 | 30 |
#include "CallbackWrapper.h" |
| 31 |
|
|
| 31 |
#if 0 |
|
| 32 |
DISABLED MOUTH TARGET IN RSB FOR NOW |
|
| 32 | 33 |
//callback handler incoming gaze requests: |
| 33 | 34 |
class MouthCallbackWrapper : public CallbackWrapper<rst::robot::MouthTarget>{
|
| 34 | 35 |
public: |
| ... | ... | |
| 51 | 52 |
mw->mouth_callback(mouth_state); |
| 52 | 53 |
} |
| 53 | 54 |
}; |
| 55 |
#endif |
|
| server/include/RSB/UtteranceCallbackWrapper.h | ||
|---|---|---|
| 37 | 37 |
void call(const std::string&, boost::shared_ptr<rst::audition::Utterance> param){
|
| 38 | 38 |
//convert rsb utterance to out own: |
| 39 | 39 |
rst::audition::Utterance *rst_utterance = param.get(); |
| 40 |
printf("> incoming utterance '%s' (%d phone symbols)\n", param->text().c_str(), (int)rst_utterance->phonemes().size());
|
|
| 40 |
printf("> incoming utterance '%s' (%d phone symbols)\n", param->textual_representation().c_str(), (int)rst_utterance->phonemes().element().size());
|
|
| 41 | 41 |
|
| 42 | 42 |
boost::shared_ptr<Utterance> utterance(new UtteranceRSB(*rst_utterance)); |
| 43 | 43 |
|
| server/include/RSB/UtteranceRSB.h | ||
|---|---|---|
| 37 | 37 |
public: |
| 38 | 38 |
UtteranceRSB(rst::audition::Utterance rst_utterance){
|
| 39 | 39 |
//set text: |
| 40 |
set_text(rst_utterance.text()); |
|
| 40 |
set_text(rst_utterance.textual_representation());
|
|
| 41 | 41 |
|
| 42 | 42 |
//convert soundchunk to audio data: |
| 43 | 43 |
extract_audio_data(rst_utterance.audio()); |
| ... | ... | |
| 100 | 100 |
void extract_phonemes(rst::audition::Utterance rst_utterance){
|
| 101 | 101 |
//extract phoneme vector |
| 102 | 102 |
phonemes_vector.clear(); |
| 103 |
for(int i=0; i<rst_utterance.phonemes().size(); i++){
|
|
| 104 |
rst::audition::Phoneme rst_phoneme = rst_utterance.phonemes().Get(i); |
|
| 103 |
for(int i=0; i<rst_utterance.phonemes().element().size(); i++){
|
|
| 104 |
rst::audition::Phoneme rst_phoneme = rst_utterance.phonemes().element().Get(i);
|
|
| 105 | 105 |
Utterance::symbol_duration_pair_t phoneme = make_pair(rst_phoneme.symbol(), rst_phoneme.duration()); |
| 106 | 106 |
phonemes_vector.push_back(phoneme); |
| 107 | 107 |
} |
| server/src/MiddlewareRSB.cpp | ||
|---|---|---|
| 45 | 45 |
using namespace rsb; |
| 46 | 46 |
using namespace rsb::patterns; |
| 47 | 47 |
|
| 48 |
WARNING: RSB interface might be deprtecated and needs some backporting |
|
| 49 |
from the ROS code. [todo] |
|
| 50 |
|
|
| 51 | 48 |
|
| 52 | 49 |
MiddlewareRSB::MiddlewareRSB(Arbiter *arbiter, std::string scope) : Middleware(arbiter, scope){
|
| 53 | 50 |
init(); |
| ... | ... | |
| 65 | 62 |
printf("> registering converters\n");
|
| 66 | 63 |
|
| 67 | 64 |
//converter for EmotionState |
| 68 |
rsb::converter::Converter<string>::Ptr emotionStateConverter(new rsb::converter::ProtocolBufferConverter<rst::robot::EmotionState>());
|
|
| 65 |
rsb::converter::Converter<string>::Ptr emotionStateConverter(new rsb::converter::ProtocolBufferConverter<rst::animation::EmotionExpression>());
|
|
| 69 | 66 |
rsb::converter::converterRepository<string>()->registerConverter(emotionStateConverter); |
| 70 | 67 |
|
| 71 | 68 |
//converter for SoundChunk |
| ... | ... | |
| 77 | 74 |
rsb::converter::converterRepository<string>()->registerConverter(UtteranceConverter); |
| 78 | 75 |
|
| 79 | 76 |
//converter for GazeTarget |
| 80 |
rsb::converter::Converter<string>::Ptr gazeTargetConverter(new rsb::converter::ProtocolBufferConverter<rst::robot::GazeTarget>());
|
|
| 77 |
rsb::converter::Converter<string>::Ptr gazeTargetConverter(new rsb::converter::ProtocolBufferConverter<rst::animation::BinocularHeadGaze>());
|
|
| 81 | 78 |
rsb::converter::converterRepository<string>()->registerConverter(gazeTargetConverter); |
| 82 | 79 |
|
| 83 | 80 |
//converter for MouthTarget |
| 84 |
rsb::converter::Converter<string>::Ptr mouthTargetConverter(new rsb::converter::ProtocolBufferConverter<rst::robot::MouthTarget>()); |
|
| 85 |
rsb::converter::converterRepository<string>()->registerConverter(mouthTargetConverter); |
|
| 81 |
//rsb::converter::Converter<string>::Ptr mouthTargetConverter(new rsb::converter::ProtocolBufferConverter<rst::robot::MouthTarget>());
|
|
| 82 |
//rsb::converter::converterRepository<string>()->registerConverter(mouthTargetConverter);
|
|
| 86 | 83 |
|
| 87 | 84 |
//converter for Animation |
| 88 |
rsb::converter::Converter<string>::Ptr animationConverter(new rsb::converter::ProtocolBufferConverter<rst::robot::Animation>());
|
|
| 85 |
rsb::converter::Converter<string>::Ptr animationConverter(new rsb::converter::ProtocolBufferConverter<rst::animation::HeadAnimation>());
|
|
| 89 | 86 |
rsb::converter::converterRepository<string>()->registerConverter(animationConverter); |
| 90 | 87 |
|
| 91 | 88 |
//first get a factory instance that is used to create RSB domain objects |
| ... | ... | |
| 132 | 129 |
init_callback("speech", LocalServer::CallbackPtr(new SpeechCallbackWrapper(this)));
|
| 133 | 130 |
init_callback("utterance", LocalServer::CallbackPtr(new UtteranceCallbackWrapper(this)));
|
| 134 | 131 |
init_callback("gaze", LocalServer::CallbackPtr(new GazeCallbackWrapper(this)));
|
| 135 |
init_callback("mouth", LocalServer::CallbackPtr(new MouthCallbackWrapper(this)));
|
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| 132 |
///init_callback("mouth", LocalServer::CallbackPtr(new MouthCallbackWrapper(this)));
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| 136 | 133 |
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| 137 | 134 |
EmotionCallbackWrapper *emotion_cb = new EmotionCallbackWrapper(this); |
| 138 | 135 |
init_callback("defaultEmotion", LocalServer::CallbackPtr(emotion_cb));
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