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hlrc / server / src / MiddlewareROS.cpp @ 60b91de0

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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 "MiddlewareROS.h"
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#ifdef ROS_SUPPORT
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#include <cstdio>
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//CallbackWrapper:
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#include <boost/range/algorithm/remove_if.hpp>
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#include <boost/algorithm/string/classification.hpp>
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#include <actionlib/client/simple_action_client.h>
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#include "ROS/UtteranceROS.h"
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using namespace std;
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using namespace hlrc_server;
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template <typename actionspec>
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actionlib::SimpleActionClient<actionspec> * create_action_client(string scope){
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    printf("> starting SimpleActionClient on %s\n",scope.c_str());
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    actionlib::SimpleActionClient<actionspec> *ac = new actionlib::SimpleActionClient<actionspec>(scope, true);
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    if (!ac->waitForServer(ros::Duration(1))){
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        printf("> ERROR: action service %s not ready, wait timed out...\n", scope.c_str());
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        return NULL;
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    }
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    return ac;
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}
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MiddlewareROS::MiddlewareROS(Arbiter *arbiter, std::string scope) : Middleware(arbiter, scope){
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    init();
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}
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MiddlewareROS::~MiddlewareROS(){
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}
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void MiddlewareROS::init(){
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    string scope = base_scope + "/set/";
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    string node_name = "hlrc_server__"+ base_scope;
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    node_name.erase(boost::remove_if(node_name, boost::is_any_of("/")), node_name.end());
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    printf("> registering on ROS as node %s\n",node_name.c_str());
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    if (ros::isInitialized()){
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        //ros is already active, no need to take care of that
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        //FIXME: Instead of deciding based on ros::isInitialized() to tick or not,
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        //we shoud use our own MessageQueue and AsyncSpinner.
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        tick_necessary = false;
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    }else{
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        printf("> ROS not initialized, calling ros::init()\n");
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        ros::M_string no_remapping;
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        ros::init(no_remapping, node_name);
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        tick_necessary = true;
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    }
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    //create node handle
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    //printf("> creating ros node handle\n");
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    //ros::NodeHa
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    ros::NodeHandle n;
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    printf("> setting up ROS services...\n");
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    //ros::AsyncSpinner *spinner = new ros::AsyncSpinner(4); // Use 4 threads
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    //spinner->start();
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    tfListener.reset(new tf2_ros::TransformListener(tfBuffer));
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    tfBuffer.clear();
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    animation_action_server = new AnimationCallbackWrapper(this, scope, "animation");
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    utterance_action_server = new UtteranceCallbackWrapper(this, scope, "utterance");
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    current_emotion_action_server = new EmotionCallbackWrapper(this, scope, "currentEmotion");
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    default_emotion_action_server = new EmotionCallbackWrapper(this, scope, "defaultEmotion");
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    gaze_action_server = new GazeCallbackWrapper(this, scope, "gaze");
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    lookat_action_server = new LookatCallbackWrapper(this, scope, "lookat", tfBuffer);
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    mouth_action_server = new MouthCallbackWrapper(this, scope, "mouth");
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    speech_action_server = new SpeechCallbackWrapper(this, scope, "speech");
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    //create tts client
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    tts_ac = create_action_client<hlrc_server::ttsAction>(base_scope + "/tts_provider");
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    if (tts_ac == NULL){
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        printf("> tts action service not available, will not do any TTS !\n");
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    }
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    printf("> init done\n");
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}
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void MiddlewareROS::tick(){
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    if (tick_necessary){
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        ros::spinOnce();
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    }
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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> MiddlewareROS::tts_call(string text){
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    boost::shared_ptr<Utterance> utterance(new Utterance());
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    //double tts_timeout = 1.0; //seconds. DO NOT CHANGE THIS!
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    if (tts_ac == NULL){
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        printf("> tts action service not available. will not speak '%s'\n", text.c_str());
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        return utterance;
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    }
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    hlrc_server::ttsGoal goal;
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    goal.text = text;
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    //send
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    tts_ac->sendGoal(goal);
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    //call ros:
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    bool finished_before_timeout = tts_ac->waitForResult(ros::Duration(ROS_ACTION_CALL_TIMEOUT));
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    if (!finished_before_timeout){
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        printf("> ERROR: NO REPLY to utterance action call received within %4.2f s\n",ROS_ACTION_CALL_TIMEOUT);
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    }else{
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        //done, return utterance ptr
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        ttsResultConstPtr tts_res = tts_ac->getResult();
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        boost::shared_ptr<Utterance> utterance(new UtteranceROS(tts_res));
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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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    }
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    printf("> failed... got no utterance\n");
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    return utterance;
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}
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#endif