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 "Middleware.h"

using namespace std;

Middleware::Middleware(string scope) {

        base_scope = scope;

}

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

        defaultEmotion = e;

        publish_default_emotion(defaultEmotion, blocking);

}

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

        currentEmotion = e;

        publish_current_emotion(currentEmotion, blocking);

}

RobotEmotion Middleware::get_current_emotion() {

        return currentEmotion;

}

RobotEmotion Middleware::get_default_emotion() {

        return defaultEmotion;

}

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

        // printf("> Middleware::set_gaze_target({%4.1f %4.1f %4.1f %4.1f},

        // %s)\n",target.pan,target.roll,target.tilt,target.vergence,blocking?"BLOCKING":"NONBLOCKING");

        gazeTarget = target;

        publish_gaze_target(gazeTarget, blocking);

}

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

        publish_lookat_target(x, y, z, frame_id, blocking, roll);

}

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

        mouthTarget = target;

        publish_mouth_target(mouthTarget, blocking);

}

RobotGaze Middleware::get_gaze_target() {

        return gazeTarget;

}

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

        headAnimation = a;

        publish_head_animation(headAnimation, blocking);

}

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

        publish_speech(text, blocking);

}