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 "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

};

}

}