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

};