hlrc / server / src / main.cpp @ 6229bceb
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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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#include "MiddlewareROS.h" |
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#include "Arbiter.h" |
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#include <string> |
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#include <iostream> |
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#include <stdlib.h> |
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#include <math.h> |
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#include <boost/date_time/posix_time/posix_time.hpp> |
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#include <boost/thread/thread_time.hpp> |
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#include <boost/thread/thread.hpp> |
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#include <boost/algorithm/string.hpp> |
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Arbiter *arbiter; |
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using namespace std; |
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using namespace boost; |
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int main(int argc, char *argv[]) { |
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if ((argc != 4) && (argc != 5)){ |
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printf("> ERROR: invalid number of parameters passed to server!\n\nusage: %s <mw_hlrc> <mw_humotion> <base scopename> [<audio output>] (example: %s RSB RSB /flobi1/ pulse )\n",argv[0],argv[0]); |
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printf(" audio output is optional and can be {pulse,oss,alsa,null,sndio,..}\n\n");
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exit(EXIT_FAILURE); |
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} |
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printf("> hlrc_server starting\n");
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//fetch scope from cmd line
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std::string scope = argv[3]; |
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//fetch middleware from cmd line
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std::string mw = argv[1]; |
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to_upper(mw); //convert to uppercase
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//fetch mw for humotion
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std::string mw_humotion = argv[2]; |
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//arbiter
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std::string sound_output = "pulse"; |
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if (argc == 5){ |
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sound_output = argv[4];
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} |
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arbiter = new Arbiter(sound_output);
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//mw connection
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Middleware *middleware; |
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if (mw == "ROS"){ |
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middleware = new MiddlewareROS(arbiter, scope);
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}else{
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middleware = new MiddlewareRSB(arbiter, scope);
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} |
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//human motion connection:
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humotion::client::Client *client = new humotion::client::Client(scope, mw_humotion);
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printf("> all done. hlrc server ready\n");
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//send values to human motion server
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float loop_delay = 1000.0 / 50.0; //run with 50Hz |
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boost::system_time timeout = get_system_time() + posix_time::milliseconds(loop_delay); |
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while(client->ok()){
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middleware->tick(); |
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//find correct arbitration
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arbiter->arbitrate(); |
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//periodically send mouth & gaze target
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client->update_mouth_target(arbiter->get_mouth_state()); |
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client->update_gaze_target(arbiter->get_gaze_state()); |
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client->send_all(); |
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//debug:
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//arbiter->get_mouth_state().dump();
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thread::sleep(timeout); |
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timeout = get_system_time() + posix_time::milliseconds(loop_delay); |
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} |
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return EXIT_SUCCESS;
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} |
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