hlrc / server / src / main.cpp @ c8cae7b9
History | View | Annotate | Download (3.259 KB)
1 |
/*
|
---|---|
2 |
* This file is part of hlrc_server
|
3 |
*
|
4 |
* Copyright(c) sschulz <AT> techfak.uni-bielefeld.de
|
5 |
* http://opensource.cit-ec.de/projects/hlrc_server
|
6 |
*
|
7 |
* This file may be licensed under the terms of the
|
8 |
* GNU General Public License Version 3 (the ``GPL''),
|
9 |
* or (at your option) any later version.
|
10 |
*
|
11 |
* Software distributed under the License is distributed
|
12 |
* on an ``AS IS'' basis, WITHOUT WARRANTY OF ANY KIND, either
|
13 |
* express or implied. See the GPL for the specific language
|
14 |
* governing rights and limitations.
|
15 |
*
|
16 |
* You should have received a copy of the GPL along with this
|
17 |
* program. If not, go to http://www.gnu.org/licenses/gpl.html
|
18 |
* or write to the Free Software Foundation, Inc.,
|
19 |
* 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
|
20 |
*
|
21 |
* The development of this software was supported by the
|
22 |
* Excellence Cluster EXC 277 Cognitive Interaction Technology.
|
23 |
* The Excellence Cluster EXC 277 is a grant of the Deutsche
|
24 |
* Forschungsgemeinschaft (DFG) in the context of the German
|
25 |
* Excellence Initiative.
|
26 |
*
|
27 |
*/
|
28 |
|
29 |
#include "MiddlewareRSB.h" |
30 |
#include "MiddlewareROS.h" |
31 |
#include "Arbiter.h" |
32 |
|
33 |
#include <string> |
34 |
#include <iostream> |
35 |
#include <stdlib.h> |
36 |
#include <math.h> |
37 |
#include <boost/date_time/posix_time/posix_time.hpp> |
38 |
#include <boost/thread/thread_time.hpp> |
39 |
#include <boost/thread/thread.hpp> |
40 |
#include <boost/algorithm/string.hpp> |
41 |
|
42 |
Arbiter *arbiter; |
43 |
|
44 |
using namespace std; |
45 |
using namespace boost; |
46 |
|
47 |
int main(int argc, char *argv[]) { |
48 |
if ((argc != 4) && (argc != 5)){ |
49 |
printf("> ERROR: invalid number of parameters passed to server!\n\nusage: %s <mw_hlrc> <mw_humotion> <base scopename> [<audio output>] (example: %s RSB RSB /flobi1/ pulse )\n",argv[0],argv[0]); |
50 |
printf(" audio output is optional and can be {pulse,oss,alsa,null,sndio,..}\n\n");
|
51 |
exit(EXIT_FAILURE); |
52 |
} |
53 |
|
54 |
printf("> hlrc_server starting\n");
|
55 |
|
56 |
//fetch scope from cmd line
|
57 |
std::string scope = argv[3]; |
58 |
|
59 |
//fetch middleware from cmd line
|
60 |
std::string mw = argv[1]; |
61 |
to_upper(mw); //convert to uppercase
|
62 |
|
63 |
//fetch mw for humotion
|
64 |
std::string mw_humotion = argv[2]; |
65 |
|
66 |
//arbiter
|
67 |
std::string sound_output = "pulse"; |
68 |
if (argc == 5){ |
69 |
sound_output = argv[4];
|
70 |
} |
71 |
arbiter = new Arbiter(sound_output);
|
72 |
|
73 |
//mw connection
|
74 |
Middleware *middleware; |
75 |
if (mw == "ROS"){ |
76 |
middleware = new MiddlewareROS(arbiter, scope);
|
77 |
}else{
|
78 |
middleware = new MiddlewareRSB(arbiter, scope);
|
79 |
} |
80 |
|
81 |
//human motion connection:
|
82 |
humotion::client::Client *client = new humotion::client::Client(scope, mw_humotion);
|
83 |
|
84 |
printf("> all done. hlrc server ready\n");
|
85 |
|
86 |
//send values to human motion server
|
87 |
float loop_delay = 1000.0 / 50.0; //run with 50Hz |
88 |
boost::system_time timeout = get_system_time() + posix_time::milliseconds(loop_delay); |
89 |
|
90 |
while(client->ok()){
|
91 |
middleware->tick(); |
92 |
|
93 |
//find correct arbitration
|
94 |
arbiter->arbitrate(); |
95 |
|
96 |
//periodically send mouth & gaze target
|
97 |
client->update_mouth_target(arbiter->get_mouth_state()); |
98 |
client->update_gaze_target(arbiter->get_gaze_state()); |
99 |
client->send_all(); |
100 |
|
101 |
//debug:
|
102 |
//arbiter->get_mouth_state().dump();
|
103 |
|
104 |
thread::sleep(timeout); |
105 |
timeout = get_system_time() + posix_time::milliseconds(loop_delay); |
106 |
} |
107 |
|
108 |
return EXIT_SUCCESS;
|
109 |
|
110 |
} |
111 |
|