hlrc

                    GNU GENERAL PUBLIC LICENSE

                       Version 3, 29 June 2007

 Copyright (C) 2007 Free Software Foundation, Inc. <http://fsf.org/>

 Everyone is permitted to copy and distribute verbatim copies

 of this license document, but changing it is not allowed.

                            Preamble

  The GNU General Public License is a free, copyleft license for

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                       TERMS AND CONDITIONS

  0. Definitions.

  "This License" refers to version 3 of the GNU General Public License.

  "Copyright" also means copyright-like laws that apply to other kinds of

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the interface presents a list of user commands or options, such as a

menu, a prominent item in the list meets this criterion.

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  All rights granted under this License are granted for the term of

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  If you convey an object code work under this section in, or with, or

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if neither you nor any third party retains the ability to install

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  The requirement to provide Installation Information does not include a

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in accord with this section must be in a format that is publicly

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unpacking, reading or copying.

  7. Additional Terms.

  "Additional permissions" are terms that supplement the terms of this

License by making exceptions from one or more of its conditions.

Additional permissions that are applicable to the entire Program shall

be treated as though they were included in this License, to the extent

that they are valid under applicable law.  If additional permissions

apply only to part of the Program, that part may be used separately

under those permissions, but the entire Program remains governed by

this License without regard to the additional permissions.

  When you convey a copy of a covered work, you may at your option

remove any additional permissions from that copy, or from any part of

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additional permissions on material, added by you to a covered work,

for which you have or can give appropriate copyright permission.

  Notwithstanding any other provision of this License, for material you

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that material) supplement the terms of this License with terms:

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  All other non-permissive additional terms are considered "further

restrictions" within the meaning of section 10.  If the Program as you

received it, or any part of it, contains a notice stating that it is

governed by this License along with a term that is a further

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where to find the applicable terms.

  Additional terms, permissive or non-permissive, may be stated in the

form of a separately written license, or stated as exceptions;

the above requirements apply either way.

  8. Termination.

  You may not propagate or modify a covered work except as expressly

provided under this License.  Any attempt otherwise to propagate or

modify it is void, and will automatically terminate your rights under

this License (including any patent licenses granted under the third

paragraph of section 11).

  However, if you cease all violation of this License, then your

license from a particular copyright holder is reinstated (a)

provisionally, unless and until the copyright holder explicitly and

finally terminates your license, and (b) permanently, if the copyright

holder fails to notify you of the violation by some reasonable means

prior to 60 days after the cessation.

  Moreover, your license from a particular copyright holder is

reinstated permanently if the copyright holder notifies you of the

violation by some reasonable means, this is the first time you have

received notice of violation of this License (for any work) from that

copyright holder, and you cure the violation prior to 30 days after

your receipt of the notice.

  Termination of your rights under this section does not terminate the

licenses of parties who have received copies or rights from you under

this License.  If your rights have been terminated and not permanently

reinstated, you do not qualify to receive new licenses for the same

material under section 10.

  9. Acceptance Not Required for Having Copies.

  You are not required to accept this License in order to receive or

run a copy of the Program.  Ancillary propagation of a covered work

occurring solely as a consequence of using peer-to-peer transmission

to receive a copy likewise does not require acceptance.  However,

nothing other than this License grants you permission to propagate or

modify any covered work.  These actions infringe copyright if you do

not accept this License.  Therefore, by modifying or propagating a

covered work, you indicate your acceptance of this License to do so.

  10. Automatic Licensing of Downstream Recipients.

  Each time you convey a covered work, the recipient automatically

receives a license from the original licensors, to run, modify and

propagate that work, subject to this License.  You are not responsible

for enforcing compliance by third parties with this License.

  An "entity transaction" is a transaction transferring control of an

organization, or substantially all assets of one, or subdividing an

organization, or merging organizations.  If propagation of a covered

work results from an entity transaction, each party to that

transaction who receives a copy of the work also receives whatever

licenses to the work the party's predecessor in interest had or could

give under the previous paragraph, plus a right to possession of the

Corresponding Source of the work from the predecessor in interest, if

the predecessor has it or can get it with reasonable efforts.

  You may not impose any further restrictions on the exercise of the

rights granted or affirmed under this License.  For example, you may

not impose a license fee, royalty, or other charge for exercise of

rights granted under this License, and you may not initiate litigation

(including a cross-claim or counterclaim in a lawsuit) alleging that

any patent claim is infringed by making, using, selling, offering for

sale, or importing the Program or any portion of it.

  11. Patents.

  A "contributor" is a copyright holder who authorizes use under this

License of the Program or a work on which the Program is based.  The

work thus licensed is called the contributor's "contributor version".

  A contributor's "essential patent claims" are all patent claims

owned or controlled by the contributor, whether already acquired or

hereafter acquired, that would be infringed by some manner, permitted

by this License, of making, using, or selling its contributor version,

but do not include claims that would be infringed only as a

consequence of further modification of the contributor version.  For

purposes of this definition, "control" includes the right to grant

patent sublicenses in a manner consistent with the requirements of

this License.

  Each contributor grants you a non-exclusive, worldwide, royalty-free

patent license under the contributor's essential patent claims, to

make, use, sell, offer for sale, import and otherwise run, modify and

propagate the contents of its contributor version.

  In the following three paragraphs, a "patent license" is any express

agreement or commitment, however denominated, not to enforce a patent

(such as an express permission to practice a patent or covenant not to

sue for patent infringement).  To "grant" such a patent license to a

party means to make such an agreement or commitment not to enforce a

patent against the party.

  If you convey a covered work, knowingly relying on a patent license,

and the Corresponding Source of the work is not available for anyone

to copy, free of charge and under the terms of this License, through a

publicly available network server or other readily accessible means,

then you must either (1) cause the Corresponding Source to be so

available, or (2) arrange to deprive yourself of the benefit of the

patent license for this particular work, or (3) arrange, in a manner

consistent with the requirements of this License, to extend the patent

license to downstream recipients.  "Knowingly relying" means you have

actual knowledge that, but for the patent license, your conveying the

covered work in a country, or your recipient's use of the covered work

in a country, would infringe one or more identifiable patents in that

country that you have reason to believe are valid.

  If, pursuant to or in connection with a single transaction or

arrangement, you convey, or propagate by procuring conveyance of, a

covered work, and grant a patent license to some of the parties

receiving the covered work authorizing them to use, propagate, modify

or convey a specific copy of the covered work, then the patent license

you grant is automatically extended to all recipients of the covered

work and works based on it.

  A patent license is "discriminatory" if it does not include within

the scope of its coverage, prohibits the exercise of, or is

conditioned on the non-exercise of one or more of the rights that are

specifically granted under this License.  You may not convey a covered

work if you are a party to an arrangement with a third party that is

in the business of distributing software, under which you make payment

to the third party based on the extent of your activity of conveying

the work, and under which the third party grants, to any of the

parties who would receive the covered work from you, a discriminatory

patent license (a) in connection with copies of the covered work

conveyed by you (or copies made from those copies), or (b) primarily

for and in connection with specific products or compilations that

contain the covered work, unless you entered into that arrangement,

or that patent license was granted, prior to 28 March 2007.

  Nothing in this License shall be construed as excluding or limiting

any implied license or other defenses to infringement that may

otherwise be available to you under applicable patent law.

  12. No Surrender of Others' Freedom.

  If conditions are imposed on you (whether by court order, agreement or

otherwise) that contradict the conditions of this License, they do not

excuse you from the conditions of this License.  If you cannot convey a

covered work so as to satisfy simultaneously your obligations under this

License and any other pertinent obligations, then as a consequence you may

not convey it at all.  For example, if you agree to terms that obligate you

to collect a royalty for further conveying from those to whom you convey

the Program, the only way you could satisfy both those terms and this

License would be to refrain entirely from conveying the Program.

  13. Use with the GNU Affero General Public License.

  Notwithstanding any other provision of this License, you have

permission to link or combine any covered work with a work licensed

under version 3 of the GNU Affero General Public License into a single

combined work, and to convey the resulting work.  The terms of this

License will continue to apply to the part which is the covered work,

but the special requirements of the GNU Affero General Public License,

section 13, concerning interaction through a network will apply to the

combination as such.

  14. Revised Versions of this License.

  The Free Software Foundation may publish revised and/or new versions of

the GNU General Public License from time to time.  Such new versions will

be similar in spirit to the present version, but may differ in detail to

address new problems or concerns.

  Each version is given a distinguishing version number.  If the

Program specifies that a certain numbered version of the GNU General

Public License "or any later version" applies to it, you have the

option of following the terms and conditions either of that numbered

version or of any later version published by the Free Software

Foundation.  If the Program does not specify a version number of the

GNU General Public License, you may choose any version ever published

by the Free Software Foundation.

  If the Program specifies that a proxy can decide which future

versions of the GNU General Public License can be used, that proxy's

public statement of acceptance of a version permanently authorizes you

to choose that version for the Program.

  Later license versions may give you additional or different

permissions.  However, no additional obligations are imposed on any

author or copyright holder as a result of your choosing to follow a

later version.

  15. Disclaimer of Warranty.

  THERE IS NO WARRANTY FOR THE PROGRAM, TO THE EXTENT PERMITTED BY

APPLICABLE LAW.  EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT

HOLDERS AND/OR OTHER PARTIES PROVIDE THE PROGRAM "AS IS" WITHOUT WARRANTY

OF ANY KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING, BUT NOT LIMITED TO,

THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR

PURPOSE.  THE ENTIRE RISK AS TO THE QUALITY AND PERFORMANCE OF THE PROGRAM

IS WITH YOU.  SHOULD THE PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF

ALL NECESSARY SERVICING, REPAIR OR CORRECTION.

  16. Limitation of Liability.

  IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING

WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MODIFIES AND/OR CONVEYS

THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES, INCLUDING ANY

GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE

USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED TO LOSS OF

DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD

PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS),

EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF

SUCH DAMAGES.

  17. Interpretation of Sections 15 and 16.

  If the disclaimer of warranty and limitation of liability provided

above cannot be given local legal effect according to their terms,

reviewing courts shall apply local law that most closely approximates

an absolute waiver of all civil liability in connection with the

Program, unless a warranty or assumption of liability accompanies a

copy of the Program in return for a fee.

                     END OF TERMS AND CONDITIONS

            How to Apply These Terms to Your New Programs

  If you develop a new program, and you want it to be of the greatest

possible use to the public, the best way to achieve this is to make it

free software which everyone can redistribute and change under these terms.

  To do so, attach the following notices to the program.  It is safest

to attach them to the start of each source file to most effectively

state the exclusion of warranty; and each file should have at least

the "copyright" line and a pointer to where the full notice is found.

    <one line to give the program's name and a brief idea of what it does.>

    Copyright (C) <year>  <name of author>

    This program is free software: you can redistribute it and/or modify

    it under the terms of the GNU General Public License as published by

    the Free Software Foundation, either version 3 of the License, or

    (at your option) any later version.

    This program is distributed in the hope that it will be useful,

    but WITHOUT ANY WARRANTY; without even the implied warranty of

    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

    GNU General Public License for more details.

    You should have received a copy of the GNU General Public License

    along with this program.  If not, see <http://www.gnu.org/licenses/>.

Also add information on how to contact you by electronic and paper mail.

  If the program does terminal interaction, make it output a short

notice like this when it starts in an interactive mode:

    <program>  Copyright (C) <year>  <name of author>

    This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'.

    This is free software, and you are welcome to redistribute it

    under certain conditions; type `show c' for details.

The hypothetical commands `show w' and `show c' should show the appropriate

parts of the General Public License.  Of course, your program's commands

might be different; for a GUI interface, you would use an "about box".

  You should also get your employer (if you work as a programmer) or school,

if any, to sign a "copyright disclaimer" for the program, if necessary.

For more information on this, and how to apply and follow the GNU GPL, see

<http://www.gnu.org/licenses/>.

  The GNU General Public License does not permit incorporating your program

into proprietary programs.  If your program is a subroutine library, you

may consider it more useful to permit linking proprietary applications with

the library.  If this is what you want to do, use the GNU Lesser General

Public License instead of this License.  But first, please read

<http://www.gnu.org/philosophy/why-not-lgpl.html>.

# [h]igh [l]evel [r]obot [c]ontrol client java (hlrc_client_java)

this is the high level robot control client code in java.

<?xml version="1.0" encoding="UTF-8"?>

<actions>

        <action>

            <actionName>run</actionName>

            <packagings>

                <packaging>jar</packaging>

            </packagings>

            <goals>

                <goal>process-classes</goal>

                <goal>org.codehaus.mojo:exec-maven-plugin:1.2.1:exec</goal>

            </goals>

            <properties>

                <exec.args>-classpath %classpath de.uni-bielefeld.cit-ec.opensource.hlrc.main.Cmd --idle</exec.args>

                <exec.executable>java</exec.executable>

            </properties>

        </action>

        <action>

            <actionName>debug</actionName>

            <packagings>

                <packaging>jar</packaging>

            </packagings>

            <goals>

                <goal>process-classes</goal>

                <goal>org.codehaus.mojo:exec-maven-plugin:1.2.1:exec</goal>

            </goals>

            <properties>

                <exec.args>-Xdebug -Xrunjdwp:transport=dt_socket,server=n,address=${jpda.address} -classpath %classpath de.uni-bielefeld.cit-ec.opensource.hlrc.main.Cmd --idle</exec.args>

                <exec.executable>java</exec.executable>

                <jpda.listen>true</jpda.listen>

            </properties>

        </action>

        <action>

            <actionName>profile</actionName>

            <packagings>

                <packaging>jar</packaging>

            </packagings>

            <goals>

                <goal>process-classes</goal>

                <goal>org.codehaus.mojo:exec-maven-plugin:1.2.1:exec</goal>

            </goals>

            <properties>

                <exec.args>-classpath %classpath de.uni-bielefeld.cit-ec.opensource.hlrc.main.Cmd --idle</exec.args>

                <exec.executable>java</exec.executable>

            </properties>

        </action>

    </actions>

<project xmlns="http://maven.apache.org/POM/4.0.0" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:schemaLocation="http://maven.apache.org/POM/4.0.0 http://maven.apache.org/xsd/maven-4.0.0.xsd">

    <modelVersion>4.0.0</modelVersion>

    <groupId>de.citec.csra</groupId>

    <artifactId>hlrc-client</artifactId>

    <version>0.1-SNAPSHOT</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.uni-bielefeld.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>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>

    <distributionManagement>

        <repository>

            <id>citec</id>

            <name>CITEC Maven Repository Server</name>

            <url>https://repo.cit-ec.uni-bielefeld.de/content/repositories/releases/</url>

            <layout>default</layout>

        </repository>

    </distributionManagement>

</project>

/*

* This file is part of hlrc

*

* Copyright(c) {flier,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.

*

*/

package de.uni_bielefeld.cit_ec.opensource.hlrc.client;

public enum Emotions {

    NEUTRAL,

    HAPPY,	

    SAD,	

    ANGRY,

    SURPRISED,	

    FEAR

}

/*

* This file is part of hlrc

*

* Copyright(c) {flier,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.

*

*/

package de.uni_bielefeld.cit_ec.opensource.hlrc.client;

public enum HeadAnimations {

    IDLE,

    HEAD_NOD,

    HEAD_SHAKE,

    EYEBLINK_L,

    EYEBLINK_R,

    EYEBLINK_BOTH,

    EYEBROWS_RAISE,

    EYEBROWS_LOWER

}

/*

* This file is part of hlrc

*

* Copyright(c) {flier,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.

*

*/

package de.uni_bielefeld.cit_ec.opensource.hlrc.client;

import java.util.ArrayList;

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;

public class RobotController {

    private final String name;

    private final String middlwarename;

    /**

    * 

    * Create a new RobotController

    * 

    * @param name String robot name i.e. "/home/wardrobe/flobi", "/home/kitchen/flobi"

    * @param middleware String what Middleware Layer to use

    *

    */

    public RobotController(String name, String middleware) {

        this.name = name;

        this.middlwarename = middleware;

        if (middleware.toUpperCase().equals("RSB")) {

            System.out.println("--> RobotController: "+name+" using middleware: "+middleware+ " has been initialized");

            this.mw = new MiddlewareRSB(this.name);

        } else {

            System.out.println("Only RSB Supported for now. Sorry.");

            this.mw = new MiddlewareRSB(this.name);

        }

    }

    /**

    * 

    * Start the RobotController's mouth animation 

    * 

    * @param audio Java std auto format

    * @param bytes Byte Array containing the actual audio stream

    * @param tuList A list of Tupel phoneme plus duration 

    * @param blocking invoke the command blocking or non blocking TRUE/FALSE

    *

    */

    public void setSpeak(AudioFormat audio, byte[] bytes, ArrayList tuList, String text, boolean blocking) {

        try {

            // System.out.println(">> Sending Set Speak: Blocking: " + blocking);

            mw.setSpeak(audio, bytes, tuList, text, blocking);

        } catch (ExecutionException | TimeoutException ex) {

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

        }

    }

    public void setGazeTarget(float pan, float tilt, float roll, boolean blocking) {

        try {

            // System.out.println(">> Sending Gaze: pan|tilt|roll: " + pan + " / " + tilt + " / " + roll + " / Blocking: " + blocking);

            mw.setGazeTarget(pan, tilt, roll, blocking);

        } catch (ExecutionException | TimeoutException ex) {

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

        }

    }

     /**

    * 

    * set robots emotion

    * 

    * @param  emo      set the desired EMOTION

    * @param  duration the length of the animation in MILLISECONDS

    * @param  blocking invoke the command blocking or non blocking TRUE/FALSE

    *

    */

    public void setCurrentEmotion(Emotions emo, int duration, boolean blocking) {

        try {

            // System.out.println(">> Sending Emotion: " + emo + " / duration: " + duration + " / Blocking: " + blocking);

            mw.setCurrentEmotion(emo, duration, blocking);

        } catch (ExecutionException | TimeoutException ex) {

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

        }

    }

    public void setDefaultEmotion(Emotions emo, boolean blocking) {

        try {

            // System.out.println(">> Sending Default Emotion: " + emo + " / Blocking: " + blocking);

            mw.setDefaultEmotion(emo, blocking);

        } catch (ExecutionException | TimeoutException ex) {

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

        }

    }

    public void setHeadAnimation(HeadAnimations ani, int duration, int repetitions, float scale, boolean blocking) {

        try {

            // System.out.println(">> Sending Animation: " + ani + " / Duration: " + duration + " / Repetitions: " + repetitions + " / Blocking: " + blocking);

            mw.setHeadAnimation(ani, duration, repetitions, scale, blocking);

        } catch (ExecutionException | TimeoutException ex) {

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

        }

    }

    /*

    public void getMouthAnimation() {

        System.out.println("Get Mouth Animation - Not implemented.");

    }

    public void getEmotion() {

        System.out.println("Get Emotion - Not implemented.");

    }

    public void getGazeTarget() {

        System.out.println("Get Gaze Target - Not implemented");

    }

    public void getDefaultEmotion() {

        System.out.println("Get Default Emotion - Not implemented");

    }

    public void getHeadAnimation() {

        System.out.println("Get Head Animation - Not implemented");

    }

    */

    public String getRobotControllerName() {

        return this.name;

    }

    public String getMiddleware() {

        return this.middlwarename;

    }

}

/*

* This file is part of hlrc

*

* Copyright(c) {flier,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.

*

*/

package de.uni_bielefeld.cit_ec.opensource.hlrc.client;

/**

 *

 * @param <Symbol>

 * @param <double>

 * 

 */

public class Tuple { 

  protected final String s; 

  protected final int d; 

  public Tuple(String phone, int d) { 

    this.s = phone; 

    this.d = d; 

  } 

} 

/*

* This file is part of hlrc_client_java

*

* Copyright(c) {flier,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.

*

*/

package de.uni_bielefeld.cit_ec.opensource.hlrc.examples;

import de.uni_bielefeld.cit_ec.opensource.hlrc.client.Emotions;

import de.uni_bielefeld.cit_ec.opensource.hlrc.client.RobotController;

public class SimpleExample {

    public SimpleExample(String robotname, String middleware) {

        String name = robotname;

        String mw = middleware;

        // Create a new Robot

        RobotController r = new RobotController(name, mw);

        // Do something HIGH LEVEL with ease!

        r.setCurrentEmotion(Emotions.SAD, 1000, true);

        // r.setGazeTarget(70.0f, 50.0f, 40.0f, true);

    }

    public static void main(String [] args) {

            SimpleExample se = new SimpleExample("/home/kitchen/flobi", "RSB");

    }

}

/*

* This file is part of hlrc_client_java

*

* Copyright(c) {flier,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.

*

*/

package de.uni_bielefeld.cit_ec.opensource.hlrc.main;

import de.uni_bielefeld.cit_ec.opensource.hlrc.client.HeadAnimations;

import de.uni_bielefeld.cit_ec.opensource.hlrc.client.Emotions;

import de.uni_bielefeld.cit_ec.opensource.hlrc.client.RobotController;

import java.util.logging.Level;

import java.util.logging.Logger;

import org.apache.commons.cli.BasicParser;

import org.apache.commons.cli.CommandLine;

import org.apache.commons.cli.CommandLineParser;

import org.apache.commons.cli.HelpFormatter;

import org.apache.commons.cli.Options;

import org.apache.commons.cli.ParseException;

import rsb.RSBException;

public class Cmd {

    public static void main(String[] args) throws RSBException {

        try {

            RobotController robot;

            CommandLineParser parser = new BasicParser();

            CommandLine line;

            Options lvOptions = new Options();

            lvOptions.addOption("de", "default",       false, "set the robot's default emotion");

            lvOptions.addOption("ga", "gaze",          false, "make the robot look somewhere");

            lvOptions.addOption("rg", "resetgaze",     false, "make the robot look towards you");

            lvOptions.addOption("sa", "sad",           false, "make robot look sad");

            lvOptions.addOption("ha", "happy",         false, "make robot look happy");

            lvOptions.addOption("ne", "neutral",       false, "make the robot look neutral");

            lvOptions.addOption("an", "angry",         false, "make the robot look angry");

            lvOptions.addOption("su", "surprised",     false, "make the robot look surprised");

            lvOptions.addOption("fe", "fear",          false, "make the robot look afraid");

            lvOptions.addOption("id", "idle",          false, "make robot look idle");

            lvOptions.addOption("no", "nodding",       false, "make the robot nodding his head");

            lvOptions.addOption("he", "headshake",     false, "make the robot shake his head");

            lvOptions.addOption("er", "eyeblinkright", false, "make the robot's right eye blink");

            lvOptions.addOption("el", "eyeblinkleft",  false, "make the robot's left eye blink");

            lvOptions.addOption("br", "eyebrowsraise", false, "make the robot's brows raise");

            lvOptions.addOption("bl", "eyebrowslower", false, "make the robot's brows lower");

            lvOptions.addOption("eb", "eyeblinkboth",  false, "make both robot's eyes blink");

            lvOptions.addOption("r",  "robotname",     true,  "set the robot name i.e. /home/kitchen/flobi");

            lvOptions.addOption("h", "help",           false, "show help");

            System.out.println("-- High Level Control Client successfully initialized --");

            try {

                line = parser.parse(lvOptions, args);

            } catch (ParseException ex) {

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

                System.out.println("--> Unrecognized Option. Exiting...");

                return;

            }

            if (line.hasOption("help")) {

                HelpFormatter lvFormater = new HelpFormatter();

                lvFormater.printHelp("High Level Control Client", lvOptions);

                return;

            }

            if (line.getOptionValue("robotname") != null) {

                robot = new RobotController(line.getOptionValue("robotname"), "RSB");

            } else {

                System.out.println("--> You need to provide a robot name, see --help");

                return;

            }

            if (line.hasOption("gaze")) {

                robot.setGazeTarget(35.0f, 20.0f, 10.0f, true);

            }else if (line.hasOption("resetgaze")) {

                robot.setGazeTarget(0.0f, 0.0f, 0.0f, true);

            }else if (line.hasOption("idle")) {

                robot.setHeadAnimation(HeadAnimations.IDLE, 1000, 1, 1.0f ,true);

            }else if (line.hasOption("nodding")) {

                robot.setHeadAnimation(HeadAnimations.HEAD_NOD, 1000, 1, 1.0f, true);

            }

            else if (line.hasOption("headshake")) {

                robot.setHeadAnimation(HeadAnimations.HEAD_SHAKE, 1000, 1, 1.0f, true);

            }

            else if (line.hasOption("eyeblinkright")) {

                robot.setHeadAnimation(HeadAnimations.EYEBLINK_R, 1000, 1, 1.0f, true);

            }

            else if (line.hasOption("eyeblinkleft")) {

                robot.setHeadAnimation(HeadAnimations.EYEBLINK_L, 1000, 1, 1.0f, true);

            }

            else if (line.hasOption("eyeblinkboth")) {

                robot.setHeadAnimation(HeadAnimations.EYEBLINK_BOTH, 1000, 1, 1.0f, true);

            }

            else if (line.hasOption("eyebrowsraise")) {

                robot.setHeadAnimation(HeadAnimations.EYEBROWS_RAISE, 1000, 1, 1.0f, true);

            }

            else if (line.hasOption("eyebrowslower")) {

                robot.setHeadAnimation(HeadAnimations.EYEBROWS_LOWER, 1000, 1, 1.0f, true);

            }

            else if (line.hasOption("default")) {

                robot.setDefaultEmotion(Emotions.NEUTRAL, true);

            }

            else if (line.hasOption("sad")) {

                robot.setCurrentEmotion(Emotions.SAD, 1000, true);

            }

            else if (line.hasOption("happy")) {

                robot.setCurrentEmotion(Emotions.HAPPY, 1000, true);

            }

            else if (line.hasOption("neutral")) {

                robot.setCurrentEmotion(Emotions.NEUTRAL, 1000, true);

            }

            else if (line.hasOption("angry")) {

                robot.setCurrentEmotion(Emotions.ANGRY, 1000, true);

            }

            else if (line.hasOption("surprised")) {

                robot.setCurrentEmotion(Emotions.SURPRISED, 1000, true);

            }

            else if (line.hasOption("fear")) {

                robot.setCurrentEmotion(Emotions.FEAR, 1000, true);

            }else{

                System.out.println("--> Invalid Command "+line.toString());

            }

            // This is currently mandatory due to

            // the RSB RemoteServer implementation

            robot.mw.deactivateServer();

        } catch (InterruptedException ex) {

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

            System.out.println("Unrecognized Option. Exiting...");

        }

    }

}

/*

* This file is part of hlrc_client_java

*

* Copyright(c) {flier,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.

*

*/

import de.uni_bielefeld.cit_ec.opensource.hlrc.client.HeadAnimations;

import de.uni_bielefeld.cit_ec.opensource.hlrc.client.Emotions;

import de.uni_bielefeld.cit_ec.opensource.hlrc.client.RobotController;

import org.junit.After;

import org.junit.AfterClass;

import org.junit.Before;

import org.junit.BeforeClass;

import org.junit.Test;

import static org.junit.Assert.*;

/**

 *

 * @author flier

 */

public class HlrcClientTests {

    RobotController r;

    public HlrcClientTests() {

        //

    }

    @BeforeClass

    public static void setUpClass() {

        System.out.println("* HLRC CLIENT TESTS: @BeforeClass method");

    }

    @AfterClass

    public static void tearDownClass() {

        System.out.println("* HLRC CLIENT TESTS: @AfterClass method");

    }

    @Before

    public void setUp() {

        this.r = new RobotController("/home/kitchen/flobi", "RSB");

        System.out.println("* HLRC CLIENT TESTS: @Before method");

    }

    @After

    public void tearDown() {

        System.out.println("* HLRC CLIENT TESTS: @After method");

    }

    @Test

    public void testConstructor() {

        System.out.println("Constructor");

        assertEquals("TestRobot", this.r.getRobotControllerName());

        assertEquals("RSB", r.getMiddleware());

    }

    @Test

    public void testGazeMsgCreation() {

        System.out.println("RPC Calls");

        this.r.mw.createGazeTargetMessage(70.0f, 50.0f, 40.0f);

    }

    @Test

    public void testHeadMsgCreation() {

        System.out.println("Head Message");

        this.r.mw.createHeadAnimationMessage(HeadAnimations.HEAD_NOD, 1000, 1, 1.0f);

    }

    @Test

    public void testEmotionCreation() {

        System.out.println("Emotion Message");

        this.r.mw.createCurrentEmotionMessage(Emotions.SAD, 1000);