hlrc

/*

* This file is part of hlrc

*

* Copyright(c) sschulz <AT> techfak.uni-bielefeld.de

* http://opensource.cit-ec.de/projects/hlrc

*

* This file may be licensed under the terms of the

* GNU General Public License Version 3 (the ``GPL''),

* or (at your option) any later version.

*

* Software distributed under the License is distributed

* on an ``AS IS'' basis, WITHOUT WARRANTY OF ANY KIND, either

* express or implied. See the GPL for the specific language

* governing rights and limitations.

*

* You should have received a copy of the GPL along with this

* program. If not, go to http://www.gnu.org/licenses/gpl.html

* or write to the Free Software Foundation, Inc.,

* 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.

*

* The development of this software was supported by the

* Excellence Cluster EXC 277 Cognitive Interaction Technology.

* The Excellence Cluster EXC 277 is a grant of the Deutsche

* Forschungsgemeinschaft (DFG) in the context of the German

* Excellence Initiative.

*

*/

#pragma once

#include "Middleware.h"

#if ROS_SUPPORT

    #include "ros/ros.h"

    //ros messages

    #include <hlrc_server/phoneme.h>

    #include <hlrc_server/soundchunk.h>

    #include <hlrc_server/gazetargetAction.h>

    #include <hlrc_server/lookattargetAction.h>

    #include <hlrc_server/animationAction.h>

    #include <hlrc_server/mouthtargetAction.h>

    #include <hlrc_server/utteranceAction.h>

    #include <hlrc_server/emotionstateAction.h>

    #include <hlrc_server/speechAction.h>

    #include <actionlib/client/simple_action_client.h>

    #include <actionlib/client/terminal_state.h>

    #include <memory>

#endif

#define ROS_ACTION_CALL_TIMEOUT 30.0

class MiddlewareROS : public Middleware{

#ifndef ROS_SUPPORT

public:

    MiddlewareROS(std::string scope) : Middleware(scope){

        printf("> ERROR: hlrc was compiled without ROS middleware support. Please use MiddlewareRSB() instead!\n\n");

        exit(EXIT_FAILURE);

    }

    void init(){};

    void publish_default_emotion(RobotEmotion e, bool blocking){};

    void publish_current_emotion(RobotEmotion e, bool blocking){};

    void publish_gaze_target(RobotGaze g, bool blocking){};

    void publish_lookat_target(float x, float y, float z, const std::string frame_id,

                               bool blocking, float roll){};

    void publish_mouth_target(RobotMouth m, bool blocking){};

    void publish_head_animation(RobotHeadAnimation a, bool blocking) {};

    void publish_speech(std::string text, bool blocking) {};

#else

public:

    MiddlewareROS(std::string scope);

protected:

    void init();

    void publish_current_emotion(RobotEmotion e, bool blocking);

    void publish_default_emotion(RobotEmotion e, bool blocking);

    void publish_gaze_target(RobotGaze target, bool blocking);

    void publish_lookat_target(float x, float y, float z, const std::string frame_id,

                               bool blocking, float roll);

    void publish_mouth_target(RobotMouth target, bool blocking);

    void publish_head_animation(RobotHeadAnimation a, bool blocking);

    void publish_speech(std::string text, bool blocking);

private:

    void publish_emotion(std::string scope_target, RobotEmotion e, bool blocking);

    void check_service(ros::ServiceClient *service);

    actionlib::SimpleActionClient<hlrc_server::animationAction>     *animation_ac;

    actionlib::SimpleActionClient<hlrc_server::utteranceAction>     *utterance_ac;

    actionlib::SimpleActionClient<hlrc_server::emotionstateAction>  *default_emotionstate_ac;

    actionlib::SimpleActionClient<hlrc_server::emotionstateAction>  *current_emotionstate_ac;

    actionlib::SimpleActionClient<hlrc_server::gazetargetAction>    *gazetarget_ac;

    actionlib::SimpleActionClient<hlrc_server::lookattargetAction>  *lookattarget_ac;

    actionlib::SimpleActionClient<hlrc_server::mouthtargetAction>   *mouthtarget_ac;

    actionlib::SimpleActionClient<hlrc_server::speechAction>        *speech_ac;

#endif

};