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.

*

*/

#include "MiddlewareROS.h"

#ifdef ROS_SUPPORT

#include <cstdio>

//CallbackWrapper:

#include <boost/range/algorithm/remove_if.hpp>

#include <boost/algorithm/string/classification.hpp>

using namespace std;

using namespace hlrc_server;

MiddlewareROS::MiddlewareROS(Arbiter *arbiter, std::string scope) : Middleware(arbiter, scope){

    init();

}

MiddlewareROS::~MiddlewareROS(){

}

void MiddlewareROS::init(){

    string scope = base_scope + "/set/";

    string node_name = "hlrc_server__"+ base_scope;

    node_name.erase(boost::remove_if(node_name, boost::is_any_of("/")), node_name.end());

    printf("> registering on ROS as node %s\n",node_name.c_str());

    if (ros::isInitialized()){

        //ros is already active, no need to take care of that

        tick_necessary = false;

    }else{

        printf("> ROS not initialized, calling ros::init()\n");

        ros::M_string no_remapping;

        ros::init(no_remapping, node_name);

        tick_necessary = true;

    }

    //create node handle

    //printf("> creating ros node handle\n");

    //ros::NodeHa

    ros::NodeHandle n;

    printf("> setting up ROS services...\n");

    //FIXME//init_callback("speech",    LocalServer::CallbackPtr(new SpeechCallbackWrapper(this)));

    //ros::AsyncSpinner *spinner = new ros::AsyncSpinner(4); // Use 4 threads

    //spinner->start();

    animation_action_server = new AnimationCallbackWrapper(this, scope, "animation");

    utterance_action_server = new UtteranceCallbackWrapper(this, scope, "utterance");

    current_emotion_action_server = new EmotionCallbackWrapper(this, scope, "currentEmotion");

    default_emotion_action_server = new EmotionCallbackWrapper(this, scope, "defaultEmotion");

    gaze_action_server = new GazeCallbackWrapper(this, scope, "gaze");

    mouth_action_server = new MouthCallbackWrapper(this, scope, "mouth");

    speech_action_server = new SpeechCallbackWrapper(this, scope, "speech");

    printf("> init done\n");

}

void MiddlewareROS::tick(){

    if (tick_necessary){

        ros::spinOnce();

    }

}

//call a tts system to convert a string to an utterance

Utterance MiddlewareROS::tts_call(string text){

    //double tts_timeout = 1.0; //seconds. DO NOT CHANGE THIS!

    Utterance utterance;

    printf("> WARNING: ros tts call not implemented yet\n");

/*

    //build request

    boost::shared_ptr<std::string> request(new string(text));

    //try to fetch it asynchronously:

    try{

        RemoteServer::DataFuture<rst::audition::Utterance> future_ptr = tts_server->callAsync<rst::audition::Utterance>("create_utterance", request);

        //try to fetch the result

        boost::shared_ptr<rst::audition::Utterance> utterance_ptr = future_ptr.get(tts_timeout);

        utterance = UtteranceRSB(*(utterance_ptr.get()));

    }catch(rsc::threading::FutureTimeoutException e){

        printf("> error: tts_call timed out after %3.1f seconds.\n", tts_timeout);

    }catch(rsc::threading::FutureTaskExecutionException e){

        printf("> error: tts_call failed: %s\n", e.what());

    }

    printf("> done. got utterance (text=%s)\n",utterance.get_text().c_str());

    */

    return utterance;

}

#endif