hlrc / client / cpp / include / MiddlewareRSB.h @ ec443419
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1 | 0c286af0 | Simon Schulz | /*
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2 | * This file is part of hlrc
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3 | *
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4 | * Copyright(c) sschulz <AT> techfak.uni-bielefeld.de
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5 | * http://opensource.cit-ec.de/projects/hlrc
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6 | *
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7 | * This file may be licensed under the terms of the
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8 | * GNU General Public License Version 3 (the ``GPL''),
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9 | * or (at your option) any later version.
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10 | *
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11 | * Software distributed under the License is distributed
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12 | * on an ``AS IS'' basis, WITHOUT WARRANTY OF ANY KIND, either
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13 | * express or implied. See the GPL for the specific language
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14 | * governing rights and limitations.
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15 | *
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16 | * You should have received a copy of the GPL along with this
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17 | * program. If not, go to http://www.gnu.org/licenses/gpl.html
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18 | * or write to the Free Software Foundation, Inc.,
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19 | * 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
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20 | *
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21 | * The development of this software was supported by the
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22 | * Excellence Cluster EXC 277 Cognitive Interaction Technology.
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23 | * The Excellence Cluster EXC 277 is a grant of the Deutsche
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24 | * Forschungsgemeinschaft (DFG) in the context of the German
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25 | * Excellence Initiative.
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26 | *
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27 | */
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28 | |||
29 | #pragma once
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30 | #include "Middleware.h" |
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31 | #ifdef RSB_SUPPORT
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32 | #define BOOST_SIGNALS_NO_DEPRECATION_WARNING //mute warnings from RSB |
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33 | #include <rsb/Factory.h> |
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34 | #include <rsb/Informer.h> |
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35 | #include <rsb/Listener.h> |
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36 | |||
37 | #if USE_INPROTK_SYNTHESIS
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38 | #include <rst/communicationpatterns/TaskState.pb.h> |
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39 | #endif
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40 | #endif
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41 | |||
42 | class MiddlewareRSB : public Middleware{ |
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43 | #ifndef RSB_SUPPORT
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44 | public:
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45 | ba6302b1 | Simon Schulz | MiddlewareRSB(std::string scope) : Middleware(scope){ |
46 | 0c286af0 | Simon Schulz | printf("> ERROR: hlrc was compiled without RSB middleware support. Please use MiddlewareROS() instead!\n\n");
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47 | exit(EXIT_FAILURE); |
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48 | } |
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49 | |||
50 | dff2f3b4 | Simon Schulz | void init(){};
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51 | void publish_default_emotion(RobotEmotion e, bool blocking){}; |
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52 | void publish_current_emotion(RobotEmotion e, bool blocking){}; |
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53 | void publish_gaze_target(RobotGaze g, bool blocking){}; |
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54 | f0dcf4ca | Robert Haschke | void publish_lookat_target(float x, float y, float z, const std::string frame_id, |
55 | bool blocking, float roll){}; |
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56 | dff2f3b4 | Simon Schulz | void publish_mouth_target(RobotMouth m, bool blocking){}; |
57 | void publish_head_animation(RobotHeadAnimation a, bool blocking) {}; |
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58 | void publish_speech(std::string text, bool blocking) {}; |
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59 | |||
60 | |||
61 | 0c286af0 | Simon Schulz | #else
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62 | public:
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63 | MiddlewareRSB(std::string scope); |
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64 | |||
65 | |||
66 | protected:
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67 | void init();
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68 | void publish_current_emotion(RobotEmotion e, bool blocking); |
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69 | void publish_default_emotion(RobotEmotion e, bool blocking); |
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70 | void publish_gaze_target(RobotGaze target, bool blocking); |
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71 | f0dcf4ca | Robert Haschke | void publish_lookat_target(float x, float y, float z, const std::string frame_id, |
72 | bool blocking, float roll); |
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73 | 0c286af0 | Simon Schulz | void publish_mouth_target(RobotMouth target, bool blocking); |
74 | void publish_head_animation(RobotHeadAnimation a, bool blocking); |
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75 | void publish_speech(std::string text, bool blocking); |
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76 | |||
77 | private:
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78 | void publish_emotion(std::string scope_target, RobotEmotion e, bool blocking); |
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79 | |||
80 | //rsb::patterns::RemoteServerPtr inprotk_server;
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81 | rsb::patterns::RemoteServerPtr hlrc_server; |
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82 | //rsb::patterns::LocalServerPtr inprotk_server;
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83 | #if USE_INPROTK_SYNTHESIS
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84 | rsb::Informer<rst::communicationpatterns::TaskState>::Ptr inprotk_informer; |
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85 | rsb::ListenerPtr inprotk_listener; |
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86 | rsb::ListenerPtr hack_listener; |
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87 | |||
88 | boost::mutex pending_tasks_mutex; |
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89 | std::vector<boost::shared_ptr<rst::communicationpatterns::TaskState>> pending_tasks; |
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90 | unsigned int say_task_active; |
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91 | unsigned int say_task_done; |
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92 | |||
93 | boost::mutex current_saytask_mutex; |
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94 | std::string current_saytask; |
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95 | std::string get_current_saytask(); |
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96 | void set_current_saytask(std::string text);
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97 | |||
98 | void check_for_inprotk();
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99 | void incoming_hack(boost::shared_ptr<std::string> finished_task);
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100 | #endif
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101 | #endif
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102 | }; |