hlrc

/*

* This file is part of hlrc_server

*

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

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

*

* 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 ROS_SUPPORT

    #include "ros/ros.h"

    #include <actionlib/client/simple_action_client.h>

    #include <tf2_ros/transform_listener.h>

    //messages

    #include "hlrc_server/phoneme.h"

    #include "hlrc_server/soundchunk.h"

    #include "hlrc_server/utterance.h"

    //actions

    #include "hlrc_server/gazetargetAction.h"

    #include "hlrc_server/lookattargetAction.h"

    #include "hlrc_server/ttsAction.h"

    #include "ROS/GazeCallbackWrapperROS.h"

    #include "ROS/LookatCallbackWrapperROS.h"

    #include "ROS/MouthCallbackWrapperROS.h"

    #include "ROS/UtteranceCallbackWrapperROS.h"

    #include "ROS/EmotionCallbackWrapperROS.h"

    #include "ROS/AnimationCallbackWrapperROS.h"

    #include "ROS/SpeechCallbackWrapperROS.h"

#endif

#include <memory>

#define ROS_ACTION_CALL_TIMEOUT 30.0

class MiddlewareROS : public Middleware{

#ifndef ROS_SUPPORT

public:

    MiddlewareROS(Arbiter *a, std::string _base_scope) : Middleware(a, _base_scope){

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

        exit(EXIT_FAILURE);

    }

    ~MiddlewareROS(){}

    void init(){};

    void tick(){};

    std::shared_ptr<Utterance> tts_call(std::string text){

        return std::shared_ptr<Utterance>(new Utterance());

    }

#else

public:

    MiddlewareROS(Arbiter *a, std::string _base_scope);

    ~MiddlewareROS();

    void init();

    void tick();

    std::shared_ptr<Utterance> tts_call(std::string text);

private:

    //std::shared_ptr<ros::NodeHandle> node_handle;

    ros::NodeHandle *ros_node_handle;

    bool tick_necessary;

    //listen to tf tree

    tf2_ros::Buffer tfBuffer;

    std::shared_ptr<tf2_ros::TransformListener> tfListener;

    //FIXME: These pointers are never destroyed. Shouldn't they be shared_ptrs?

    AnimationCallbackWrapper *animation_action_server;

    UtteranceCallbackWrapper *utterance_action_server;

    EmotionCallbackWrapper *current_emotion_action_server;

    EmotionCallbackWrapper *default_emotion_action_server;

    GazeCallbackWrapper *gaze_action_server;

    LookatCallbackWrapper *lookat_action_server;

    MouthCallbackWrapper *mouth_action_server;

    SpeechCallbackWrapper *speech_action_server;

    actionlib::SimpleActionClient<hlrc_server::ttsAction> *tts_ac;

#endif

};