hlrc

	<modelVersion>4.0.0</modelVersion>

	<groupId>de.cit_ec.opensource.hlrc</groupId>

	<artifactId>hlrc-client</artifactId>

	<version>0.2</version>

	<packaging>jar</packaging>

	<name>High Level Robot Control java client</name>

	<url>http://maven.apache.org</url>

	<build>

		<plugins>

			<plugin>

				<groupId>org.apache.maven.plugins</groupId>

				<artifactId>maven-compiler-plugin</artifactId>

				<version>3.1</version>

				<configuration>

					<source>1.7</source>

					<target>1.7</target>

					<showDeprecation>true</showDeprecation>

				</configuration>

			</plugin>

			<plugin>

				<groupId>org.codehaus.mojo</groupId>

				<artifactId>appassembler-maven-plugin</artifactId>

				<version>1.8</version>

				<configuration>

					<programs>

						<program>

							<mainClass>de.cit_ec.opensource.hlrc.main.Cmd</mainClass>

							<id>hlrc-client</id>

						</program>

					</programs>

					<!--                    <assembleDirectory>${project.build.directory}/dist</assembleDirectory>

					<repositoryName>lib</repositoryName>

					<repositoryLayout>flat</repositoryLayout>-->

				</configuration>

				<executions>

					<execution>

						<id>assemble</id>

						<goals>

							<goal>assemble</goal>

						</goals>

					</execution>

				</executions>

			</plugin>

		</plugins>

	</build>

	<licenses>

		<license>

			<name>GPLv3</name>

			<url>http://www.gnu.org/licenses/gpl.html</url>

		</license>

	</licenses>

	<organization>

		<name>Citec, Bielefeld University</name>

		<url>http://www.cit-ec.de/</url>

	</organization>

	<developers>

		<developer>

			<id>flier</id>

			<name>Florian Lier</name>

			<email>flier@techfak.uni-bielefeld.de</email>

			<url>https://www.cit-ec.de/de/users/flier</url>

			<roles>

				<role>architect</role>

				<role>developer</role>

			</roles>

			<timezone>+1</timezone>

		</developer>

	</developers>

	<properties>

		<project.build.sourceEncoding>UTF-8</project.build.sourceEncoding>

	</properties>

	<dependencies>

		<dependency>

			<groupId>org.slf4j</groupId>

			<artifactId>slf4j-api</artifactId>

			<version>1.7.7</version>

		</dependency>

		<dependency>

			<groupId>org.slf4j</groupId>

			<artifactId>slf4j-simple</artifactId>

			<version>1.7.7</version>

		</dependency>            

		<dependency>

			<groupId>junit</groupId>

			<artifactId>junit</artifactId>

			<version>4.11</version>

			<scope>test</scope>

		</dependency>

		<dependency>

			<groupId>rsb</groupId>

			<artifactId>rsb</artifactId>

			<version>[0.15.0,)</version>

		</dependency>

		<dependency>

			<groupId>rsb</groupId>

			<artifactId>rst</artifactId>

			<version>[0.15.0,)</version>

		</dependency>

		<dependency>

			<groupId>commons-cli</groupId>

			<artifactId>commons-cli</artifactId>

			<version>1.2</version>

		</dependency>

		<dependency>

			<groupId>commons-lang</groupId>

			<artifactId>commons-lang</artifactId>

			<version>2.6</version>

		</dependency>

	</dependencies>

	<repositories>

		<repository>

			<id>citec-releases</id>

			<name>CITEC Maven Repository Server</name>

			<url>https://mvn.cit-ec.de/nexus/content/repositories/releases/</url>

			<layout>default</layout>

			<releases>

				<enabled>true</enabled>

			</releases>

		</repository>

	</repositories>

/**

 *

 * @author flier@techfak.uni-bielefeld.de

 *

 */

package de.cit_ec.opensource.hlrc.client;

public enum Emotions {

    NEUTRAL,

    HAPPY,	

    SAD,	

    ANGRY,

    SURPRISED,	

    FEAR

}

/**

 *

 * @author flier@techfak.uni-bielefeld.de

 *

 */

// TODO: Rename/refactor this package to somthing more self explantory

package de.cit_ec.opensource.hlrc.client;

public enum HeadAnimations {

    IDLE,

    HEAD_NOD,

    HEAD_SHAKE,

    EYEBLINK_L,

    EYEBLINK_R,

    EYEBLINK_BOTH,

    EYEBROWS_RAISE,

    EYEBROWS_LOWER

}

/**

 *

 * @author flier@techfak.uni-bielefeld.de

 *

 */

package de.cit_ec.opensource.hlrc.client;

import java.util.ArrayList;

import java.util.HashMap;

import java.util.Map;

import java.util.concurrent.ExecutionException;

import java.util.concurrent.TimeoutException;

import java.util.logging.Level;

import java.util.logging.Logger;

import javax.sound.sampled.AudioFormat;

import javax.sound.sampled.AudioFormat.Encoding;

import rsb.RSBException;

import rsb.converter.DefaultConverterRepository;

import rsb.converter.ProtocolBufferConverter;

import rsb.patterns.RemoteServer;

import rst.audition.SoundChunkType.SoundChunk;

import rst.audition.UtteranceType.Utterance;

import rst.animation.HeadAnimationType.HeadAnimation;

import rst.animation.EmotionExpressionType.EmotionExpression;

import rst.animation.BinocularHeadGazeType.BinocularHeadGaze;

import com.google.protobuf.ByteString;

// Create _abstract_ middleware class and function _interface_ for 

// future integration of additional Middleware implementations...

import rsb.Factory;

import rsb.Informer;

import rst.animation.EmotionExpressionType.EmotionExpression.Emotion;

import rst.animation.HeadAnimationType.HeadAnimation.Animation;

import rst.audition.PhonemeCollectionType.PhonemeCollection;

import rst.audition.PhonemeType.Phoneme;

import rst.geometry.SphericalDirectionFloatType.SphericalDirectionFloat;

public class MiddlewareRSB {

    final RemoteServer server;

    final String robotname;

    static Map<Emotions, Emotion> emo_map;

    static Map<HeadAnimations, Animation> han_map;

    public class RSBInformer {

        final Factory factory;

        final Informer<Object> informer;

        public RSBInformer(String scope) throws Throwable {

            // Get a factory instance to create RSB objects.

            factory = Factory.getInstance();

            // Create an informer on scope "/exmaple/informer".

            informer = factory.createInformer(scope);

            // Activate the informer to be ready for work

            informer.activate();

        }

        public void pushMsg() {

            try {

                // Send and event using a method that accepts the data and

                // automatically creates an appropriate event internally.

                this.informer.publish("TODO");

            } catch (RSBException ex) {

                Logger.getLogger(MiddlewareRSB.class.getName()).log(Level.SEVERE, null, ex);

            }

        }

        public void closeInf() throws InterruptedException {

            try {

                // As there is no explicit removal model in java, always manually

                // deactivate the informer if it is not needed anymore

                this.informer.deactivate();

            } catch (RSBException ex) {

                Logger.getLogger(MiddlewareRSB.class.getName()).log(Level.SEVERE, null, ex);

            }

        }

    }

    @SuppressWarnings("unchecked")

    public MiddlewareRSB(String robotname) {

        this.robotname = robotname;

        server = Factory.getInstance().createRemoteServer(this.robotname + "/set/");

        System.out.println("--> Robot: Talking to " + this.robotname);

        try {

            server.activate();

        } catch (RSBException ex) {

            Logger.getLogger(MiddlewareRSB.class.getName()).log(Level.SEVERE, null, ex);

        }

        {

            final ProtocolBufferConverter<EmotionExpression> converter = new ProtocolBufferConverter<>(EmotionExpression.getDefaultInstance());

            DefaultConverterRepository.getDefaultConverterRepository().addConverter(converter);

        }

        {

            final ProtocolBufferConverter<BinocularHeadGaze> converter = new ProtocolBufferConverter<>(BinocularHeadGaze.getDefaultInstance());

            DefaultConverterRepository.getDefaultConverterRepository().addConverter(converter);

        }

        {

            final ProtocolBufferConverter<HeadAnimation> converter = new ProtocolBufferConverter<>(HeadAnimation.getDefaultInstance());

            DefaultConverterRepository.getDefaultConverterRepository().addConverter(converter);

        }

        {

            final ProtocolBufferConverter<Utterance> converter = new ProtocolBufferConverter<>(Utterance.getDefaultInstance());

            DefaultConverterRepository.getDefaultConverterRepository().addConverter(converter);

        }

        {

            final ProtocolBufferConverter<SoundChunk> converter = new ProtocolBufferConverter<>(SoundChunk.getDefaultInstance());

            DefaultConverterRepository.getDefaultConverterRepository().addConverter(converter);

        }

        {

            final ProtocolBufferConverter<Phoneme> converter = new ProtocolBufferConverter<>(Phoneme.getDefaultInstance());

            DefaultConverterRepository.getDefaultConverterRepository().addConverter(converter);

        }

        emo_map = new HashMap();

        emo_map.put(Emotions.SAD, Emotion.SAD);

        emo_map.put(Emotions.ANGRY, Emotion.ANGRY);

        emo_map.put(Emotions.FEAR, Emotion.FEAR);

        emo_map.put(Emotions.NEUTRAL, Emotion.NEUTRAL);

        emo_map.put(Emotions.SURPRISED, Emotion.SURPRISED);

        emo_map.put(Emotions.HAPPY, Emotion.HAPPY);

        han_map = new HashMap();

        han_map.put(HeadAnimations.HEAD_NOD, Animation.HEAD_NOD);

        han_map.put(HeadAnimations.HEAD_SHAKE, Animation.HEAD_SHAKE);

        han_map.put(HeadAnimations.IDLE, Animation.IDLE);

        han_map.put(HeadAnimations.EYEBLINK_R, Animation.EYEBLINK_RIGHT);

        han_map.put(HeadAnimations.EYEBLINK_L, Animation.EYEBLINK_LEFT);

        han_map.put(HeadAnimations.EYEBLINK_BOTH, Animation.EYEBLINK_BOTH);

        han_map.put(HeadAnimations.EYEBROWS_LOWER, Animation.EYEBROWS_LOWER);

        han_map.put(HeadAnimations.EYEBROWS_RAISE, Animation.EYEBROWS_RAISE);

    }

    private SoundChunk compileSoundChunk(AudioFormat audio, byte[] data) {

        SoundChunk.Builder sc = SoundChunk.newBuilder();

        ByteString bs = ByteString.copyFrom(data);

        boolean isbig = audio.isBigEndian();

        sc.setChannels(audio.getChannels());

        sc.setData(bs);

        sc.setRate((int) audio.getSampleRate());

        if (isbig) {

            sc.setEndianness(SoundChunk.EndianNess.ENDIAN_BIG);

        } else {

            sc.setEndianness(SoundChunk.EndianNess.ENDIAN_LITTLE);

        }

        sc.setSampleCount(data.length / audio.getFrameSize());

        Encoding enc = audio.getEncoding();

        if (enc.equals(Encoding.PCM_SIGNED)) {

            int size = audio.getSampleSizeInBits();

            if (size == 8) {

                sc.setSampleType(SoundChunk.SampleType.SAMPLE_S8);

            } else if (size == 16) {

                sc.setSampleType(SoundChunk.SampleType.SAMPLE_S16);

            } else if (size == 24) {

                sc.setSampleType(SoundChunk.SampleType.SAMPLE_S24);

            } else {

                System.err.println("Audio Sample Size Not Valid");

            }

        } else if (enc.equals(Encoding.PCM_UNSIGNED)) {