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.

 *

 */

#include "RobotController.h"

#include "Middleware.h"

#include "MiddlewareROS.h"

#include "MiddlewareRSB.h"

using namespace std;

RobotController::RobotController(string mw_name, string base_scope) {

        if (mw_name == "ROS") {

                // intantiate ROS mw

                middleware = new MiddlewareROS(base_scope);

        }

        else if (mw_name == "RSB") {

                // intantiate RSB mw

                middleware = new MiddlewareRSB(base_scope);

        }

        else {

                printf("ERROR: invalid middleware requested (%s). supported: {ROS, RSB}\n\n", mw_name.c_str());

                exit(EXIT_FAILURE);

        }

}

void RobotController::set_current_emotion(RobotEmotion e, bool blocking) {

        middleware->set_current_emotion(e, blocking);

}

void RobotController::set_default_emotion(RobotEmotion e, bool blocking) {

        middleware->set_default_emotion(e, blocking);

}

void RobotController::set_gaze_target(RobotGaze target, bool blocking) {

        middleware->set_gaze_target(target, blocking);

}

RobotGaze RobotController::get_gaze_target() {

        return middleware->get_gaze_target();

}

void RobotController::set_lookat_target(float x, float y, float z, const std::string frame_id, bool blocking, float roll) {

        middleware->set_lookat_target(x, y, z, frame_id, blocking, roll);

}

void RobotController::set_mouth_target(RobotMouth target, bool blocking) {

        middleware->set_mouth_target(target, blocking);

}

void RobotController::set_head_animation(RobotHeadAnimation a, bool blocking) {

        middleware->set_head_animation(a, blocking);

}

void RobotController::set_speak(string text, bool blocking) {

        printf("> DBG: set_speak(%s, %s)\n", text.c_str(), blocking ? "blocking" : "nonblock");

        middleware->set_speak(text, blocking);

}