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.

 *

 */

#ifdef RSB_SUPPORT

#include "MiddlewareRSB.h"

#include <rsb/converter/Repository.h>

#include <rsb/converter/ProtocolBufferConverter.h>

#include <rst/animation/EmotionExpression.pb.h>

#include <rst/animation/BinocularHeadGaze.pb.h>

#include <rst/animation/HeadAnimation.pb.h>

#include <rst/audition/Utterance.pb.h>

#include <rst/audition/SoundChunk.pb.h>

#include <boost/algorithm/string.hpp>

#include <boost/range/algorithm_ext/erase.hpp>

using namespace std;

using namespace rsb;

using namespace rsb::patterns;

MiddlewareRSB::MiddlewareRSB(string scope) : Middleware(scope) {

        printf("> new MiddlewareRSB() on base scope '%s'\n", base_scope.c_str());

        init();

}

void MiddlewareRSB::init(void) {

        printf("> MiddlewareRSB::init() registering converters\n");

        try {

                // converter for EmotionState

                rsb::converter::Converter<string>::Ptr emotionStateConverter(

                   new rsb::converter::ProtocolBufferConverter<rst::animation::EmotionExpression>());

                rsb::converter::converterRepository<string>()->registerConverter(emotionStateConverter);

                // converter for Utterance

                // rsb::converter::Converter<string>::Ptr UtteranceConverter(new

                // rsb::converter::ProtocolBufferConverter<rst::audition::Utterance>());

                // rsb::converter::converterRepository<string>()->registerConverter(UtteranceConverter);

                // converter for GazeTarget

                rsb::converter::Converter<string>::Ptr gazeTargetConverter(

                   new rsb::converter::ProtocolBufferConverter<rst::animation::BinocularHeadGaze>());

                rsb::converter::converterRepository<string>()->registerConverter(gazeTargetConverter);

                // converter for MouthTarget

                /// rsb::converter::Converter<string>::Ptr mouthTargetConverter(new

                /// rsb::converter::ProtocolBufferConverter<rst::robot::MouthTarget>());

                /// rsb::converter::converterRepository<string>()->registerConverter(mouthTargetConverter);

                // converter for Animation

                rsb::converter::Converter<string>::Ptr animationConverter(

                   new rsb::converter::ProtocolBufferConverter<rst::animation::HeadAnimation>());

                rsb::converter::converterRepository<string>()->registerConverter(animationConverter);

        }

        catch (std::invalid_argument e) {

                printf("> converters already registered\n");

        }

        // first get a factory instance that is used to create RSB domain objects

        Factory& factory = getFactory();

        // get server

        string scope = base_scope + "/set/";

        hlrc_server = factory.createRemoteServer(scope);

        printf("> init done\n");

}

void MiddlewareRSB::publish_emotion(string scope_target, RobotEmotion e, bool blocking) {

        boost::shared_ptr<rst::animation::EmotionExpression> request(new rst::animation::EmotionExpression());

        switch (e.value) {

                default:

                        printf("> WANRING: invalid emotion id %d. defaulting to NEUTRAL\n", e.value);

                        // fall through:

                case (RobotEmotion::NEUTRAL):

                        request->set_emotion(rst::animation::EmotionExpression::NEUTRAL);

                        break;

                case (RobotEmotion::HAPPY):

                        request->set_emotion(rst::animation::EmotionExpression::HAPPY);

                        break;

                case (RobotEmotion::SAD):

                        request->set_emotion(rst::animation::EmotionExpression::SAD);

                        break;

                case (RobotEmotion::ANGRY):

                        request->set_emotion(rst::animation::EmotionExpression::ANGRY);

                        break;

                case (RobotEmotion::SURPRISED):

                        request->set_emotion(rst::animation::EmotionExpression::SURPRISED);

                        break;

                case (RobotEmotion::FEAR):

                        request->set_emotion(rst::animation::EmotionExpression::FEAR);

                        break;

        }

        request->set_duration(e.time_ms);

        if (blocking) {

                hlrc_server->call<rst::animation::EmotionExpression>(scope_target, request);

        }

        else {

                hlrc_server->callAsync<rst::animation::EmotionExpression>(scope_target, request);

        }

}

void MiddlewareRSB::publish_current_emotion(RobotEmotion e, bool blocking) {

        publish_emotion("currentEmotion", e, blocking);

}

void MiddlewareRSB::publish_default_emotion(RobotEmotion e, bool blocking) {

        publish_emotion("defaultEmotion", e, blocking);

}

void MiddlewareRSB::publish_gaze_target(RobotGaze incoming_target, bool blocking) {

        boost::shared_ptr<rst::animation::BinocularHeadGaze> request(new rst::animation::BinocularHeadGaze());

        boost::shared_ptr<rst::geometry::SphericalDirectionFloat> target(new rst::geometry::SphericalDirectionFloat());

        target->set_azimuth(incoming_target.pan);

        target->set_elevation(incoming_target.tilt);

        request->set_allocated_target(target.get());

        request->set_eye_vergence(incoming_target.vergence);

        boost::shared_ptr<rst::geometry::SphericalDirectionFloat> offset(new rst::geometry::SphericalDirectionFloat());

        offset->set_azimuth(incoming_target.pan_offset);

        offset->set_elevation(incoming_target.tilt_offset);

        request->set_allocated_offset(offset.get());

        if (blocking) {

                hlrc_server->call<rst::animation::BinocularHeadGaze>("gaze", request);

        }

        else {

                hlrc_server->callAsync<rst::animation::BinocularHeadGaze>("gaze", request);

        }

}

void MiddlewareRSB::publish_lookat_target(float x, float y, float z, const std::string frame_id, bool blocking, float roll) {

        std::cerr << "not yet implemented" << std::endl;

}

void MiddlewareRSB::publish_mouth_target(RobotMouth target, bool blocking) {

        /*

            boost::shared_ptr<rst::robot::MouthTarget> request(new rst::robot::MouthTarget());

            request->set_position_left(  target.position_left);

            request->set_position_center(target.position_center);

            request->set_position_right( target.position_right);

            request->set_opening_left(  target.opening_left);

            request->set_opening_center(target.opening_center);

            request->set_opening_right( target.opening_right);

            if (blocking){

                hlrc_server->call<rst::robot::MouthTarget>("mouth", request);

            }else{

                hlrc_server->callAsync<rst::robot::MouthTarget>("mouth", request);

            }

        */

        printf("> ERROR: mouth targets not yet implemented in RSB middleware!\n");

}

void MiddlewareRSB::publish_head_animation(RobotHeadAnimation a, bool blocking) {

        boost::shared_ptr<rst::animation::HeadAnimation> request(new rst::animation::HeadAnimation());

        switch (a.value) {

                default:

                        printf("> WANRING: invalid animation id %d. defaulting to IDLE", a.value);

                        // fall through:

                case (RobotHeadAnimation::IDLE):

                        request->set_animation(rst::animation::HeadAnimation::IDLE);

                        break;

                case (RobotHeadAnimation::HEAD_NOD):

                        request->set_animation(rst::animation::HeadAnimation::HEAD_NOD);

                        break;

                case (RobotHeadAnimation::HEAD_SHAKE):

                        request->set_animation(rst::animation::HeadAnimation::HEAD_SHAKE);

                        break;

                case (RobotHeadAnimation::EYEBLINK_L):

                        request->set_animation(rst::animation::HeadAnimation::EYEBLINK_LEFT);

                        break;

                case (RobotHeadAnimation::EYEBLINK_R):

                        request->set_animation(rst::animation::HeadAnimation::EYEBLINK_RIGHT);

                        break;

                case (RobotHeadAnimation::EYEBLINK_BOTH):

                        request->set_animation(rst::animation::HeadAnimation::EYEBLINK_BOTH);

                        break;

                case (RobotHeadAnimation::EYEBROWS_RAISE):

                        request->set_animation(rst::animation::HeadAnimation::EYEBROWS_RAISE);

                        break;

                case (RobotHeadAnimation::EYEBROWS_LOWER):

                        request->set_animation(rst::animation::HeadAnimation::EYEBROWS_LOWER);

                        break;

                case (RobotHeadAnimation::ENGAGEMENT_LEFT):

                        request->set_animation(rst::animation::HeadAnimation::ENGAGEMENT_LEFT);

                        break;

                case (RobotHeadAnimation::ENGAGEMENT_RIGHT):

                        request->set_animation(rst::animation::HeadAnimation::ENGAGEMENT_RIGHT);

                        break;

        }

        request->set_repetitions(a.repetitions);

        request->set_emphasis_scale(a.scale);

        request->set_duration_each(a.time_ms);

        if (blocking) {

                hlrc_server->call<rst::animation::HeadAnimation>("animation", request);

        }

        else {

                hlrc_server->callAsync<rst::animation::HeadAnimation>("animation", request);

        }

}

void MiddlewareRSB::publish_speech(string text, bool blocking) {

        // say it

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

        if (blocking) {

                hlrc_server->call<std::string>("speech", request);

        }

        else {

                hlrc_server->callAsync<std::string>("speech", request);

        }

}

#endif