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

//*********************************************************************************

//allow direct synthesis using inprotk calls. by default this is disabled

//until inprotk gets to an usable state (e.g. the completion flag has to work)

#define USE_INPROTK_SYNTHESIS 0

//*********************************************************************************

#include <string>

#include "RobotHeadAnimation.h"

#include "RobotEmotion.h"

#include "RobotGaze.h"

#include "RobotMouth.h"

class Middleware{

public:

    Middleware(std::string scope);

    void set_default_emotion(RobotEmotion e, bool blocking);

    void set_current_emotion(RobotEmotion e, bool blocking);

    void set_gaze_target(RobotGaze target, bool blocking);

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

                           bool blocking, float roll);

    void set_mouth_target(RobotMouth target, bool blocking);

    void set_head_animation(RobotHeadAnimation a, bool blocking);

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

    RobotEmotion get_current_emotion();

    RobotEmotion get_default_emotion();

    RobotGaze get_gaze_target();

protected:

    virtual void init() = 0;

    virtual void publish_default_emotion(RobotEmotion e, bool blocking) = 0;

    virtual void publish_current_emotion(RobotEmotion e, bool blocking) = 0;

    virtual void publish_gaze_target(RobotGaze g, bool blocking) = 0;

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

                                       bool blocking, float roll) = 0;

    virtual void publish_mouth_target(RobotMouth m, bool blocking) = 0;

    virtual void publish_head_animation(RobotHeadAnimation a, bool blocking) = 0;

    virtual void publish_speech(std::string text, bool blocking) = 0;

    std::string base_scope;

private:

    RobotEmotion defaultEmotion;

    RobotEmotion currentEmotion;

    RobotGaze gazeTarget;

    RobotMouth mouthTarget;

    RobotHeadAnimation headAnimation;

};