Revision 0c8d22a5 src/client/client.cpp
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* Excellence Initiative. |
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*/ |
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#include "client/client.h" |
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#include "client/middleware_ros.h" |
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#include <boost/algorithm/string.hpp> |
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#include <string> |
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using namespace std; |
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using namespace boost; |
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using namespace humotion; |
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using namespace humotion::client; |
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#include "humotion/client/client.h" |
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#include "humotion/client/middleware_ros.h" |
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// using namespace std; |
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// using namespace boost; |
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// using namespace humotion; |
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using humotion::client::Client; |
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//! constructor |
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//! open a new client instance. |
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Client::Client(string scope, string mw){
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//convert mw to uppercase:
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to_upper(mw); |
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Client::Client(std::string scope, std::string mw) {
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// convert mw to uppercase
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boost::to_upper(mw);
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printf("> initializing humotion client (on %s, middleware=%s)\n",scope.c_str(),mw.c_str());
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printf("> initializing humotion client (on %s, middleware=%s)\n", scope.c_str(), mw.c_str());
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//start middleware: |
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if (mw == "ROS"){
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middleware = new MiddlewareROS(scope); |
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}else{
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printf("> ERROR: invalid mw '%s' given. RSB support was droppd. please use ROS\n\n",mw.c_str());
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// start middleware |
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if (mw == "ROS") {
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middleware = new humotion::client::MiddlewareROS(scope); |
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} else {
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printf("> ERROR: invalid mw '%s' given. RSB support was droppd. please use ROS\n\n",
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mw.c_str()); |
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exit(EXIT_FAILURE); |
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} |
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} |
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//! destructor |
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Client::~Client(){
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Client::~Client() {
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} |
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//! check if connection is ok |
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//! \return true if conn is alive |
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bool Client::ok(){
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bool Client::ok() {
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return middleware->ok(); |
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} |
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//! do a single middleware tick: |
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void Client::tick(){
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void Client::tick() {
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middleware->tick(); |
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} |
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//! set mouth position |
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//! \param MouthState m to set |
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//! \param send data to server (optional, use manual call to send_*() to trigger update on server) |
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void Client::update_mouth_target(MouthState m, bool send){
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void Client::update_mouth_target(MouthState m, bool send) {
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middleware->update_mouth_target(m, send); |
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} |
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//! set gaze direction |
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//! \param GazeState m to set |
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//! \param send data to server (optional, use manual call to send_*() to trigger update on server) |
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void Client::update_gaze_target(GazeState s, bool send){
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void Client::update_gaze_target(GazeState s, bool send) {
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middleware->update_gaze_target(s, send); |
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} |
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//! send all targets to server |
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void Client::send_all(){
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void Client::send_all() {
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middleware->send_all(); |
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} |
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