humotion

include_directories(include)

/*

* 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);

        }

};

}