hlrc / server / include / MiddlewareROS.h @ 60b91de0
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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 | #pragma once
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30 | #include "Middleware.h" |
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31 | #ifdef ROS_SUPPORT
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32 | #include "ros/ros.h" |
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33 | 0c15613f | Simon Schulz | #include <actionlib/client/simple_action_client.h> |
34 | 2cf3c285 | Robert Haschke | #include <tf2_ros/transform_listener.h> |
35 | 0c15613f | Simon Schulz | |
36 | 0c286af0 | Simon Schulz | //messages
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37 | #include "hlrc_server/phoneme.h" |
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38 | #include "hlrc_server/soundchunk.h" |
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39 | 0c15613f | Simon Schulz | #include "hlrc_server/utterance.h" |
40 | 0c286af0 | Simon Schulz | //actions
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41 | #include "hlrc_server/gazetargetAction.h" |
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42 | b47687f8 | Robert Haschke | #include "hlrc_server/lookattargetAction.h" |
43 | 0c15613f | Simon Schulz | #include "hlrc_server/ttsAction.h" |
44 | 0c286af0 | Simon Schulz | |
45 | #include "ROS/GazeCallbackWrapperROS.h" |
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46 | b47687f8 | Robert Haschke | #include "ROS/LookatCallbackWrapperROS.h" |
47 | 0c286af0 | Simon Schulz | #include "ROS/MouthCallbackWrapperROS.h" |
48 | #include "ROS/UtteranceCallbackWrapperROS.h" |
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49 | #include "ROS/EmotionCallbackWrapperROS.h" |
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50 | #include "ROS/AnimationCallbackWrapperROS.h" |
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51 | #include "ROS/SpeechCallbackWrapperROS.h" |
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52 | #endif
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53 | #include <boost/shared_ptr.hpp> |
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54 | |||
55 | 0c15613f | Simon Schulz | #define ROS_ACTION_CALL_TIMEOUT 30.0 |
56 | 0c286af0 | Simon Schulz | |
57 | class MiddlewareROS : public Middleware{ |
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58 | #ifndef ROS_SUPPORT
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59 | public:
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60 | MiddlewareROS(Arbiter *a, std::string _base_scope) : Middleware(a, _base_scope){ |
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61 | printf("> ERROR: hlrc was compiled without ROS middleware support. Please use MiddlewareRSB() instead!\n\n");
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62 | exit(EXIT_FAILURE); |
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63 | } |
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64 | |||
65 | ~MiddlewareROS(){} |
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66 | void init(){};
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67 | void tick(){};
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68 | |||
69 | 2e526a15 | Simon Schulz | boost::shared_ptr<Utterance> tts_call(std::string text){ |
70 | return boost::shared_ptr<Utterance>(new Utterance());
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71 | 0c286af0 | Simon Schulz | } |
72 | |||
73 | #else
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74 | public:
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75 | MiddlewareROS(Arbiter *a, std::string _base_scope); |
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76 | ~MiddlewareROS(); |
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77 | void init();
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78 | void tick();
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79 | 2e526a15 | Simon Schulz | boost::shared_ptr<Utterance> tts_call(std::string text); |
80 | 0c286af0 | Simon Schulz | |
81 | private:
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82 | //boost::shared_ptr<ros::NodeHandle> node_handle;
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83 | ros::NodeHandle *ros_node_handle; |
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84 | bool tick_necessary;
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85 | 2cf3c285 | Robert Haschke | //listen to tf tree
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86 | tf2_ros::Buffer tfBuffer; |
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87 | boost::shared_ptr<tf2_ros::TransformListener> tfListener; |
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88 | |||
89 | //FIXME: These pointers are never destroyed. Shouldn't they be shared_ptrs?
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90 | 0c286af0 | Simon Schulz | AnimationCallbackWrapper *animation_action_server; |
91 | UtteranceCallbackWrapper *utterance_action_server; |
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92 | EmotionCallbackWrapper *current_emotion_action_server; |
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93 | EmotionCallbackWrapper *default_emotion_action_server; |
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94 | GazeCallbackWrapper *gaze_action_server; |
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95 | b47687f8 | Robert Haschke | LookatCallbackWrapper *lookat_action_server; |
96 | 0c286af0 | Simon Schulz | MouthCallbackWrapper *mouth_action_server; |
97 | SpeechCallbackWrapper *speech_action_server; |
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98 | 0c15613f | Simon Schulz | actionlib::SimpleActionClient<hlrc_server::ttsAction> *tts_ac; |
99 | 0c286af0 | Simon Schulz | #endif
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100 | }; |