Revision 0c8d22a5 src/client/middleware_rsb.cpp
| src/client/middleware_rsb.cpp | ||
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#include "client/middleware_rsb.h" |
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#ifdef RSB_SUPPORT |
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#define BOOST_SIGNALS_NO_DEPRECATION_WARNING 1 |
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#include <rsb/Listener.h> |
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#include <rsb/patterns/RemoteServer.h> |
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#include <rsb/MetaData.h> |
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#include <rsb/converter/Repository.h> |
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#include <rsb/converter/ProtocolBufferConverter.h> |
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#include <rsb/converter/Repository.h> |
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#include <rsb/Factory.h> |
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#include <rsb/Listener.h> |
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#include <rsb/MetaData.h> |
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#include <rsb/patterns/RemoteServer.h> |
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#include <string> |
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#include <humotion/mouth.h>
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#include <humotion/gaze.h>
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#include "humotion/gaze.h"
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#include "humotion/mouth.h"
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using namespace std; |
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using namespace rsb; |
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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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// using namespace std;
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// using namespace rsb;
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// using namespace boost;
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// using namespace humotion;
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using humotion::client::MiddlewareRSB;
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//! constructor |
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MiddlewareRSB::MiddlewareRSB(string scope) : Middleware(scope){
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MiddlewareRSB::MiddlewareRSB(string scope) : Middleware(scope) {
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printf("> registering converters\n");
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try{
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//converter for GazeTarget |
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rsb::converter::Converter<string>::Ptr gazeTargetConverter(new rsb::converter::ProtocolBufferConverter<rst::robot::HumotionGazeTarget>()); |
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try {
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// converter for GazeTarget |
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rsb::converter::Converter<string>::Ptr gazeTargetConverter( |
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new rsb::converter::ProtocolBufferConverter<rst::robot::HumotionGazeTarget>()); |
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rsb::converter::converterRepository<string>()->registerConverter(gazeTargetConverter); |
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}catch (std::invalid_argument e){
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printf("> it seems like a converter for rst::robot::HumotionGazeTarget is already registered. fine, will not add another converter\n");
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} catch (std::invalid_argument e) {
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printf("> it seems like a converter for rst::robot::HumotionGazeTarget "
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"is already registered. fine, will not add another converter\n"); |
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} |
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try{
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//converter for MouthTarget |
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rsb::converter::Converter<string>::Ptr mouthTargetConverter(new rsb::converter::ProtocolBufferConverter<rst::robot::MouthTarget>()); |
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rsb::converter::converterRepository<string>()->registerConverter(mouthTargetConverter); |
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}catch (std::invalid_argument e){
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printf("> it seems like a converter for rst::robot::MouthTarget is already registered. fine, will not add another converter\n");
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try {
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// converter for MouthTarget |
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rsb::converter::Converter<string>::Ptr mouthTargetConverter( |
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new rsb::converter::ProtocolBufferConverter<rst::robot::MouthTarget>()); |
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rsb::converter::converterRepository<std::string>()->registerConverter(mouthTargetConverter); |
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} catch (std::invalid_argument e) {
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printf("> it seems like a converter for rst::robot::MouthTarget is "
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"already registered. fine, will not add another converter\n"); |
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} |
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//first get a factory instance that is used to create RSB domain objects |
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// first get a factory instance that is used to create RSB domain objects
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Factory &factory = getFactory(); |
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//create informer |
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mouth_target_informer = factory.createInformer<rst::robot::MouthTarget> (base_scope + "/humotion/mouth/target"); |
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gaze_target_informer = factory.createInformer<rst::robot::HumotionGazeTarget> (base_scope + "/humotion/gaze/target"); |
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// create informer |
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mouth_target_informer = factory.createInformer<rst::robot::MouthTarget> |
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(base_scope + "/humotion/mouth/target"); |
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gaze_target_informer = factory.createInformer<rst::robot::HumotionGazeTarget> |
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(base_scope + "/humotion/gaze/target"); |
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printf("> MiddlewareRSB initialised\n");
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} |
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//! destructor |
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MiddlewareRSB::~MiddlewareRSB(){
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MiddlewareRSB::~MiddlewareRSB() {
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} |
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//! connection ok? |
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//! \return true if conn is alive |
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bool MiddlewareRSB::ok(){
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bool MiddlewareRSB::ok() {
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return true; |
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} |
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//! do a single tick |
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void MiddlewareRSB::tick(){
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//nothing to do |
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void MiddlewareRSB::tick() {
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// nothing to do
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} |
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//! send mouth target to server |
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void MiddlewareRSB::send_mouth_target(){
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//build target packet:
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void MiddlewareRSB::send_mouth_target() {
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// build target packet
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boost::shared_ptr<rst::robot::MouthTarget> request(new rst::robot::MouthTarget()); |
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request->set_position_left(mouth_state.position_left); |
| ... | ... | |
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} |
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//! send mouth target to server |
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void MiddlewareRSB::send_gaze_target(int gaze_type){
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//build target packet:
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void MiddlewareRSB::send_gaze_target(int gaze_type) {
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// build target packet
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boost::shared_ptr<rst::robot::HumotionGazeTarget> request(new rst::robot::HumotionGazeTarget()); |
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request->set_pan(gaze_state.pan); |
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request->set_tilt(gaze_state.tilt); |
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request->set_roll (gaze_state.roll);
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request->set_roll(gaze_state.roll); |
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request->set_vergence(gaze_state.vergence); |
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request->set_pan_offset(gaze_state.pan_offset); |
| ... | ... | |
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request->set_eyeblink_request_left(gaze_state.eyeblink_request_left); |
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request->set_eyeblink_request_right(gaze_state.eyeblink_request_right); |
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if (gaze_state.type == GazeState::ABSOLUTE){
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if (gaze_state.type == GazeState::ABSOLUTE) {
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request->set_type(rst::robot::HumotionGazeTarget::ABSOLUTE); |
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}else{
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} else {
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request->set_type(rst::robot::HumotionGazeTarget::RELATIVE); |
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} |
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//add position to send queue |
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// add position to send queue
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gaze_target_informer->publish(request); |
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} |
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