Revision 4bd3e852 server/src/MiddlewareRSB.cpp
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using namespace rsb; |
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using namespace rsb::patterns; |
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WARNING: RSB interface might be deprtecated and needs some backporting |
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from the ROS code. [todo] |
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MiddlewareRSB::MiddlewareRSB(Arbiter *arbiter, std::string scope) : Middleware(arbiter, scope){
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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::Converter<string>::Ptr emotionStateConverter(new rsb::converter::ProtocolBufferConverter<rst::animation::EmotionExpression>());
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rsb::converter::converterRepository<string>()->registerConverter(emotionStateConverter); |
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//converter for SoundChunk |
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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::Converter<string>::Ptr gazeTargetConverter(new rsb::converter::ProtocolBufferConverter<rst::animation::BinocularHeadGaze>());
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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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//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::Converter<string>::Ptr animationConverter(new rsb::converter::ProtocolBufferConverter<rst::animation::HeadAnimation>());
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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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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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///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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