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"

#ifdef RSB_SUPPORT

#define BOOST_SIGNALS_NO_DEPRECATION_WARNING // mute warnings from RSB

#include <rsb/Factory.h>

#include <rsb/Informer.h>

#include <rsb/Listener.h>

#if USE_INPROTK_SYNTHESIS

#include <rst/communicationpatterns/TaskState.pb.h>

#endif

#endif

class MiddlewareRSB : public Middleware {

#ifndef RSB_SUPPORT

public:

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

                printf("> ERROR: hlrc was compiled without RSB middleware support. Please use MiddlewareROS() 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:

        MiddlewareRSB(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);

        // rsb::patterns::RemoteServerPtr inprotk_server;

        rsb::patterns::RemoteServerPtr hlrc_server;

        // rsb::patterns::LocalServerPtr inprotk_server;

#if USE_INPROTK_SYNTHESIS

        rsb::Informer<rst::communicationpatterns::TaskState>::Ptr inprotk_informer;

        rsb::ListenerPtr inprotk_listener;

        rsb::ListenerPtr hack_listener;

        std::mutex pending_tasks_mutex;

        std::vector<std::shared_ptr<rst::communicationpatterns::TaskState> > pending_tasks;

        unsigned int say_task_active;

        unsigned int say_task_done;

        std::mutex current_saytask_mutex;

        std::string current_saytask;

        std::string get_current_saytask();

        void set_current_saytask(std::string text);

        void check_for_inprotk();

        void incoming_hack(std::shared_ptr<std::string> finished_task);

#endif

#endif

};