humotion

include_directories(include/humotion)

/*

* This file is part of humotion

*

* Copyright(c) sschulz <AT> techfak.uni-bielefeld.de

* http://opensource.cit-ec.de/projects/humotion

*

* This file may be licensed under the terms of the

* GNU Lesser General Public License Version 3 (the ``LGPL''),

* 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 LGPL for the specific language

* governing rights and limitations.

*

* You should have received a copy of the LGPL along with this

* program. If not, go to http://www.gnu.org/licenses/lgpl.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.

*/

#pragma once

#include "middleware.h"

#include <cstdio>

#include <cstdint>

#include <string>

namespace humotion{

namespace client{

class Client{

public:

    Client(std::string name, std::string mw);

	~Client();

    bool ok();

    void tick();

    void update_mouth_target(MouthState s, bool send=false);

    void update_gaze_target(GazeState s, bool send=false);

    void send_all();

private:

    Middleware *middleware;

};

}

}

/*

* This file is part of humotion

*

* Copyright(c) sschulz <AT> techfak.uni-bielefeld.de

* http://opensource.cit-ec.de/projects/humotion

*

* This file may be licensed under the terms of the

* GNU Lesser General Public License Version 3 (the ``LGPL''),

* 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 LGPL for the specific language

* governing rights and limitations.

*

* You should have received a copy of the LGPL along with this

* program. If not, go to http://www.gnu.org/licenses/lgpl.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.

*/

#pragma once

#include <cstdio>

#include <cstdint>

#include <string>

#include "../mouth_state.h"

#include "../gaze_state.h"

namespace humotion{

namespace client{

class Middleware{

public:

    Middleware(std::string name);

    ~Middleware();

    void update_mouth_target(MouthState s, bool send);

    void update_gaze_target(GazeState s, bool send);

    void send_all();

    virtual void send_mouth_target() = 0;

    virtual void send_gaze_target() = 0;

    virtual bool ok() = 0;

    virtual void tick() = 0;

protected:

	MouthState mouth_state;

    GazeState gaze_state;

    std::string base_scope;

};

}

}

#pragma once

#include "middleware.h"

#ifdef ROS_SUPPORT

    #include "ros/ros.h"

#endif

#include <boost/shared_ptr.hpp>

/*

* This file is part of humotion

*

* Copyright(c) sschulz <AT> techfak.uni-bielefeld.de

* http://opensource.cit-ec.de/projects/humotion

*

* This file may be licensed under the terms of the

* GNU Lesser General Public License Version 3 (the ``LGPL''),

* 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 LGPL for the specific language

* governing rights and limitations.

*

* You should have received a copy of the LGPL along with this

* program. If not, go to http://www.gnu.org/licenses/lgpl.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.

*/

namespace humotion{

namespace client{

class MiddlewareROS : public Middleware{

#ifndef ROS_SUPPORT

public:

    MiddlewareROS(std::string name) : Middleware(name){

        printf("> ERROR: humotion was compiled without ROS middleware support. Please use MiddlewareRSB() instead!\n\n");

        exit(EXIT_FAILURE);

    }

    ~MiddlewareROS(){}

    void send_mouth_target(){};

    void send_gaze_target(){};

    bool ok(){ return false; }

    void tick(){}

#else

public:

    MiddlewareROS(std::string name);

    ~MiddlewareROS();

    void send_mouth_target();

    void send_gaze_target();

    bool ok();

    void tick();

private:

    bool tick_necessary;

    //boost::shared_ptr<ros::NodeHandle> node_handle;

    ros::Publisher mouth_target_publisher;

    ros::Publisher gaze_target_publisher;

#endif

};

}

}

/*

* This file is part of humotion

*

* Copyright(c) sschulz <AT> techfak.uni-bielefeld.de

* http://opensource.cit-ec.de/projects/humotion

*

* This file may be licensed under the terms of the

* GNU Lesser General Public License Version 3 (the ``LGPL''),

* 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 LGPL for the specific language

* governing rights and limitations.

*

* You should have received a copy of the LGPL along with this

* program. If not, go to http://www.gnu.org/licenses/lgpl.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.

*/

#pragma once

#include "middleware.h"

#ifdef RSB_SUPPORT

    #define BOOST_SIGNALS_NO_DEPRECATION_WARNING 1

    #include <rsb/Informer.h>

    #include <rst/robot/HumotionGazeTarget.pb.h>

    #include <rst/robot/MouthTarget.pb.h>

#endif

namespace humotion{

namespace client{

class MiddlewareRSB : public Middleware{

#ifndef RSB_SUPPORT

public:

    MiddlewareRSB(std::string name) : Middleware(name){

        printf("> ERROR: humotion was compiled without RSB middleware support. Please use MiddlewareROS() instead!\n\n");

        exit(EXIT_FAILURE);

    }

    ~MiddlewareRSB(){}

    bool ok(){ return false; }

    void tick(){}

    void send_mouth_target(){};

    void send_gaze_target(){};

#else

public:

    MiddlewareRSB(std::string name);

    ~MiddlewareRSB();

    void send_mouth_target();

    void send_gaze_target();

    bool ok();

    void tick();

private:

    rsb::Informer<rst::robot::MouthTarget>::Ptr mouth_target_informer;

    rsb::Informer<rst::robot::HumotionGazeTarget>::Ptr gaze_target_informer;

#endif

};

}

}

/*

* This file is part of humotion

*

* Copyright(c) sschulz <AT> techfak.uni-bielefeld.de

* http://opensource.cit-ec.de/projects/humotion

*

* This file may be licensed under the terms of the

* GNU Lesser General Public License Version 3 (the ``LGPL''),

* 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 LGPL for the specific language

* governing rights and limitations.

*

* You should have received a copy of the LGPL along with this

* program. If not, go to http://www.gnu.org/licenses/lgpl.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.

*/

#pragma once

#include <math.h>

namespace humotion{

class GazeState{

public:

        GazeState();

        ~GazeState();

        void dump();

        //pan tilt roll

        float pan;

        float tilt;

        float roll;

        float pan_offset;

        float tilt_offset;

        float roll_offset;

        //pan,tilt,roll can be relative or absolute

        int type;

        //when was this target requested?

        double timestamp;

        //is this relative or

        enum GAZE_STATE_TYPE{

            ABSOLUTE=0,

            RELATIVE=1,

            OVERRIDE=2

        };

        //

        float vergence;

        //eyelid opening angle

        float eyelid_opening_upper;

        float eyelid_opening_lower;

        //eyebrow angles

        float eyebrow_left;

        float eyebrow_right;

        //eyeblink request

        int eyeblink_request_left;

        int eyeblink_request_right;

        static const int EYEBLINK_TIME_DEFAULT = 150; //ms

        float distance_pt_abs(GazeState b){

            float dist_pan = (b.pan + b.pan_offset) - (pan + pan_offset);

            float dist_tilt = (b.tilt + b.tilt_offset) - (tilt + tilt_offset);

            return sqrt(pow(dist_pan, 2.0) + pow(dist_tilt, 2.0));

        }

        float distance_tilt_abs(GazeState b){

            float dist_tilt = (b.tilt + b.tilt_offset) - (tilt + tilt_offset);

            return fabs(dist_tilt);

        }

        float distance_pan_abs(GazeState b){

            float dist_pan = (b.pan + b.pan_offset) - (pan + pan_offset);

            return fabs(dist_pan);

        }

};

}

/*

* This file is part of humotion

*

* Copyright(c) sschulz <AT> techfak.uni-bielefeld.de

* http://opensource.cit-ec.de/projects/humotion

*

* This file may be licensed under the terms of the

* GNU Lesser General Public License Version 3 (the ``LGPL''),

* 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 LGPL for the specific language

* governing rights and limitations.

*

* You should have received a copy of the LGPL along with this

* program. If not, go to http://www.gnu.org/licenses/lgpl.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.

*/

#pragma once

#include <string>

namespace humotion{

class MouthState{

public:

        MouthState();

        ~MouthState();

        void dump();

        float opening_left;

        float opening_center;

        float opening_right;

        float position_left;

        float position_center;

        float position_right;

};

}

/*

* This file is part of humotion

*

* Copyright(c) sschulz <AT> techfak.uni-bielefeld.de

* http://opensource.cit-ec.de/projects/humotion

*

* This file may be licensed under the terms of the

* GNU Lesser General Public License Version 3 (the ``LGPL''),

* 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 LGPL for the specific language

* governing rights and limitations.

*

* You should have received a copy of the LGPL along with this

* program. If not, go to http://www.gnu.org/licenses/lgpl.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.

*/

#pragma once

#include "../gaze_state.h"

#include "../mouth_state.h"

#include "motion_generator.h"

#include "joint_interface.h"

namespace humotion{

namespace server{

class Controller{

public:

    Controller(JointInterface *j);

    ~Controller();

    void init_motion_generators();

    void calculate_targets();

    void publish_targets();

    void set_gaze_target(GazeState s);

    void set_mouth_target(MouthState s);

private:

    void add_motion_generator(MotionGenerator *m);

    typedef std::vector<MotionGenerator *> motion_generator_vector_t;

    motion_generator_vector_t motion_generator_vector;

    JointInterface *joint_interface;

};

}

}

/*

* This file is part of humotion

*

* Copyright(c) sschulz <AT> techfak.uni-bielefeld.de

* http://opensource.cit-ec.de/projects/humotion

*

* This file may be licensed under the terms of the

* GNU Lesser General Public License Version 3 (the ``LGPL''),

* 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 LGPL for the specific language

* governing rights and limitations.

*

* You should have received a copy of the LGPL along with this

* program. If not, go to http://www.gnu.org/licenses/lgpl.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.

*/

#pragma once

#include "gaze_motion_generator.h"

#include "timestamped_list.h"

namespace humotion{

namespace server{

class EyeMotionGenerator : public GazeMotionGenerator{

public:

    EyeMotionGenerator(JointInterface *j);

    ~EyeMotionGenerator();

    void calculate_targets();

    void publish_targets();

    static const float SACCADE_SPEED_THRESHOLD;

private:

    void setup_eyemotion(int dof, float target, float now);

    TimestampedList tsl_gaze_target_pan;

    TimestampedList tsl_gaze_target_tilt;

    TimestampedList tsl_gaze_target_vergence;

};

}

}

/*

* This file is part of humotion

*

* Copyright(c) sschulz <AT> techfak.uni-bielefeld.de

* http://opensource.cit-ec.de/projects/humotion

*

* This file may be licensed under the terms of the

* GNU Lesser General Public License Version 3 (the ``LGPL''),

* 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 LGPL for the specific language

* governing rights and limitations.

*

* You should have received a copy of the LGPL along with this

* program. If not, go to http://www.gnu.org/licenses/lgpl.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.

*/

#pragma once

#include "motion_generator.h"

namespace humotion{

namespace server{

class EyebrowMotionGenerator : public MotionGenerator{

public:

    EyebrowMotionGenerator(JointInterface *j);

    ~EyebrowMotionGenerator();

    void calculate_targets();

    void publish_targets();

private:

};

}

}

/*

* This file is part of humotion

*

* Copyright(c) sschulz <AT> techfak.uni-bielefeld.de

* http://opensource.cit-ec.de/projects/humotion

*

* This file may be licensed under the terms of the

* GNU Lesser General Public License Version 3 (the ``LGPL''),

* 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 LGPL for the specific language

* governing rights and limitations.

*

* You should have received a copy of the LGPL along with this

* program. If not, go to http://www.gnu.org/licenses/lgpl.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.

*/

#pragma once

#include "eye_motion_generator.h"

#include "boost/date_time/posix_time/posix_time.hpp"

#include <boost/thread/thread_time.hpp>

namespace humotion{

namespace server{

class EyelidMotionGenerator : public EyeMotionGenerator{

public:

    EyelidMotionGenerator(JointInterface *j);

    ~EyelidMotionGenerator();

    void calculate_targets();

    void publish_targets();

private:

    bool saccade_blink_active;

    bool saccade_blink_requested;

    enum SIDE_ID{

        LEFT = 0,

        RIGHT,

        SIDE_ID_SIZE

    };

    bool eyeblink_active[SIDE_ID_SIZE];

    bool eyelid_closed[SIDE_ID_SIZE];

    void start_external_eyeblinks(int duration_left, int duration_right);

    void process_saccadic_eyeblinks();

    void process_periodic_eyeblinks();

    void handle_eyeblink_timeout();

    void override_lids_for_eyeblink();

    void check_for_saccade();

    void start_eyeblink(int side, int duration=EYEBLINK_DURATION_MS);

    void close_eyelid(int joint_id);

    static const float SACCADE_SPEED_THRESHOLD;

    static const float EYEBLINK_DURATION_MS;

    static const float EYEBLINK_EYERY_MS_MIN;

    static const float EYEBLINK_EYERY_MS_MAX;

    static const float EYEBLINK_BLOCKING_TIME;

    boost::system_time periodic_blink_start_time;

    boost::system_time eyeblink_timeout[SIDE_ID_SIZE];

    boost::system_time eyeblink_blocked_timeout;

};

}

}

/*

* This file is part of humotion

*

* Copyright(c) sschulz <AT> techfak.uni-bielefeld.de

* http://opensource.cit-ec.de/projects/humotion

*

* This file may be licensed under the terms of the

* GNU Lesser General Public License Version 3 (the ``LGPL''),

* 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 LGPL for the specific language

* governing rights and limitations.

*

* You should have received a copy of the LGPL along with this

* program. If not, go to http://www.gnu.org/licenses/lgpl.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.

*/

#pragma once

#include "reflexxes_motion_generator.h"

#include "timestamped_list.h"

namespace humotion{

namespace server{

class GazeMotionGenerator : public ReflexxesMotionGenerator{

public:

    GazeMotionGenerator(JointInterface *j, int dof, float t);

    ~GazeMotionGenerator();

    void set_gaze_target(GazeState s);

    static const float SACCADE_SPEED_THRESHOLD;

    static const float SACCADE_LATENCY;

protected:

    GazeState get_current_gaze();

    bool get_eye_saccade_active();

    bool neck_saccade_requested;

    bool neck_saccade_omr;

private:

    //constants

    static const float NECK_SACCADE_THRESHOLD;

    static const float EYE_SACCADE_SPEED_THRESHOLD;

    static const float OMR_LIMIT_TRIGGERS_NECK_SACCADE;

};

}

}

/*

* This file is part of humotion

*

* Copyright(c) sschulz <AT> techfak.uni-bielefeld.de

* http://opensource.cit-ec.de/projects/humotion

*

* This file may be licensed under the terms of the

* GNU Lesser General Public License Version 3 (the ``LGPL''),

* 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 LGPL for the specific language

* governing rights and limitations.

*

* You should have received a copy of the LGPL along with this

* program. If not, go to http://www.gnu.org/licenses/lgpl.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.

*/

#pragma once

#include <cstdio>

#include <cstdint>

#include <string>

#include <map>

#include "../timestamped_list.h"

#include "../mouth_state.h"

#include "../gaze_state.h"

#include "boost/date_time/posix_time/posix_time.hpp"

#include <boost/thread/thread_time.hpp>

#include <boost/thread/thread.hpp>

#include <boost/thread/mutex.hpp>

namespace humotion{

namespace server{

//forward declaration to solve include loop

class Controller;

class JointInterface{

public:

    JointInterface();

    ~JointInterface();

    void set_target_position(int joint_id, float position);

    float get_target_position(int joint_id);

    virtual void publish_target_position(int joint_id) = 0;

    virtual void execute_motion() = 0;

    typedef std::map<int, TimestampedList> joint_tsl_map_t;

    TimestampedList get_ts_position(int joint_id);

    TimestampedList get_ts_speed(int joint_id);

    void set_framerate(float f);

    void enable_mouth_joints();

    void disable_mouth_joints();

    bool mouth_target_input_active();

    void enable_gaze_joints();

    void disable_gaze_joints();

    bool gaze_target_input_active();

    float get_joint_min(int joint_id);

    float get_joint_max(int joint_id);

    void dump_angles();

    unsigned int get_and_clear_incoming_position_count();

    enum JOINT_ID_ENUM{

        ZERO = 0,

        ID_LIP_LEFT_UPPER,

        ID_LIP_LEFT_LOWER,

        ID_LIP_CENTER_UPPER,

        ID_LIP_CENTER_LOWER,

        ID_LIP_RIGHT_UPPER,

        ID_LIP_RIGHT_LOWER,

        ID_NECK_PAN,

        ID_NECK_TILT,

        ID_NECK_ROLL,

        ID_EYES_LEFT_LR,

        ID_EYES_RIGHT_LR,

        ID_EYES_BOTH_UD,

        ID_EYES_LEFT_LID_LOWER,

        ID_EYES_LEFT_LID_UPPER,

        ID_EYES_RIGHT_LID_LOWER,

        ID_EYES_RIGHT_LID_UPPER,

        ID_EYES_LEFT_BROW,

        ID_EYES_RIGHT_BROW,

        JOINT_ID_ENUM_SIZE

    };

    bool get_joint_position_map_empty();

protected:

    void store_incoming_position(int joint_id, float position, double timestamp);

    void store_incoming_speed(int joint_id, float speed, double timestamp);

    virtual void enable_joint(int id) = 0;

    virtual void disable_joint(int id) = 0;

    float framerate;

    float joint_min[JOINT_ID_ENUM_SIZE];

    float joint_max[JOINT_ID_ENUM_SIZE];

    float joint_target[JOINT_ID_ENUM_SIZE];

private:

    boost::mutex joint_ts_position_map_access_mutex;

    boost::mutex joint_ts_speed_map_access_mutex;

    joint_tsl_map_t joint_ts_position_map;

    joint_tsl_map_t joint_ts_speed_map;

    bool mouth_enabled;

    bool gaze_enabled;

    unsigned int incoming_position_count;

};

}

}

/*

* This file is part of humotion

*

* Copyright(c) sschulz <AT> techfak.uni-bielefeld.de

* http://opensource.cit-ec.de/projects/humotion

*

* This file may be licensed under the terms of the

* GNU Lesser General Public License Version 3 (the ``LGPL''),

* 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 LGPL for the specific language

* governing rights and limitations.

*

* You should have received a copy of the LGPL along with this

* program. If not, go to http://www.gnu.org/licenses/lgpl.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.

*/

#pragma once

#include <cstdio>

#include <cstdint>

#include <string>

#include "../mouth_state.h"

#include "../gaze_state.h"

#include "controller.h"

namespace humotion{

namespace server{

class Middleware{

public:

    Middleware(std::string name, Controller *c);

    ~Middleware();

    virtual bool ok() = 0;

    virtual void tick() = 0;

protected:

    Controller *controller;

    std::string base_scope;

};

}

}

/*

* This file is part of humotion

*

* Copyright(c) sschulz <AT> techfak.uni-bielefeld.de

* http://opensource.cit-ec.de/projects/humotion

*

* This file may be licensed under the terms of the

* GNU Lesser General Public License Version 3 (the ``LGPL''),

* 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 LGPL for the specific language

* governing rights and limitations.

*

* You should have received a copy of the LGPL along with this

* program. If not, go to http://www.gnu.org/licenses/lgpl.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.

*/

#pragma once

#include "middleware.h"

#include "humotion/mouth.h"

#include "humotion/gaze.h"

#ifdef ROS_SUPPORT

#include "ros/ros.h"

#endif

#include <boost/shared_ptr.hpp>

namespace humotion{

namespace server{

class MiddlewareROS : public Middleware{

#ifndef ROS_SUPPORT

public:

    MiddlewareROS(std::string name, Controller *c) : Middleware(name, c){

        printf("> ERROR: humotion was compiled without ROS middleware support. Please use MiddlewareRSB() instead!\n\n");

        exit(EXIT_FAILURE);

    }

    ~MiddlewareROS(){}

    bool ok(){ return false; }

    void tick(){}

#else

public:

    MiddlewareROS(std::string name, Controller *c);

    ~MiddlewareROS();

    bool ok();

    void tick();

private:

    double convert_ros_to_timestamp_ms(ros::Time t);

    bool tick_necessary;

    void incoming_mouth_target(const humotion::mouth::ConstPtr& msg);

    void incoming_gaze_target(const humotion::gaze::ConstPtr& msg);

    ros::Subscriber mouth_target_subscriber;

    ros::Subscriber gaze_target_subscriber;

#endif

};

}

}

/*

* This file is part of humotion

*

* Copyright(c) sschulz <AT> techfak.uni-bielefeld.de

* http://opensource.cit-ec.de/projects/humotion

*

* This file may be licensed under the terms of the

* GNU Lesser General Public License Version 3 (the ``LGPL''),

* 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 LGPL for the specific language

* governing rights and limitations.

*

* You should have received a copy of the LGPL along with this

* program. If not, go to http://www.gnu.org/licenses/lgpl.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.

*/

#pragma once

#include "middleware.h"

#include "humotion/mouth.h"

#include "humotion/gaze.h"