Revision 414a3516

View differences:

CMakeLists.txt
3 3 

  		




  4
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set(ENV{ROS_LANG_DISABLE} "genjava")


  		




  5
  5
  
    

  		




  6
  
  
    

  		




  7
  6
  
    
set(ROS_BUILD_TYPE Debug)


  		




  8
  7
  
    

  		




  9
  
  
    

  		




  10
  
  
    
#######################################


  		




  11
  
  
    
#allow forced disable of RSB


  		




  12
  
  
    
option(IGNORE_RSB "IGNORE_RSB" OFF)


  		




  13
  
  
    

  		




  14
  
  
    
#######################################


  		




  15
  
  
    
# check if we have RSB support:


  		




  16
  
  
    
IF (IGNORE_RSB)


  		




  17
  
  
    
    MESSAGE(INFO "RSB disabled per command line flag IGNORE_RSB")


  		




  18
  
  
    
ELSE (IGNORE_RSB)


  		




  19
  
  
    
FIND_PACKAGE(RSB 0.11)


  		




  20
  
  
    
IF (RSB_FOUND)


  		




  21
  
  
    
    #RSB


  		




  22
  
  
    
    SET(CMAKE_INSTALL_RPATH "\$ORIGIN/../lib:\$ORIGIN/")


  		




  23
  
  
    
    FIND_PACKAGE(RSC 0.11 REQUIRED)


  		




  24
  
  
    
    FIND_PACKAGE(RSB 0.11 REQUIRED)


  		




  25
  
  
    
    #RST


  		




  26
  
  
    
    FIND_PACKAGE(RST REQUIRED COMPONENTS sandbox)


  		




  27
  
  
    
    INCLUDE_DIRECTORIES(BEFORE SYSTEM ${RST_INCLUDE_DIRS})


  		




  28
  
  
    
    ADD_DEFINITIONS(${RST_CFLAGS} ${RSTSANDBOX_CFLAGS})


  		




  29
  
  
    

  		




  30
  
  
    
    INCLUDE_DIRECTORIES(BEFORE SYSTEM ${RSB_INCLUDE_DIRS})


  		




  31
  
  
    
    LIST(INSERT CMAKE_MODULE_PATH 0 ${RSC_CMAKE_MODULE_PATH})


  		




  32
  
  
    
    #RSB


  		




  33
  
  
    
    SET(CMAKE_INSTALL_RPATH "\$ORIGIN/../lib:\$ORIGIN/")


  		




  34
  
  
    
    FIND_PACKAGE(RSC 0.11 REQUIRED)


  		




  35
  
  
    
    FIND_PACKAGE(RSB 0.11 REQUIRED)


  		




  36
  
  
    
    #RST


  		




  37
  
  
    
    FIND_PACKAGE(RST REQUIRED COMPONENTS sandbox)


  		




  38
  
  
    
    INCLUDE_DIRECTORIES(BEFORE SYSTEM ${RST_INCLUDE_DIRS})


  		




  39
  
  
    
    ADD_DEFINITIONS(${RST_CFLAGS} ${RSTSANDBOX_CFLAGS})


  		




  40
  
  
    

  		




  41
  
  
    
    INCLUDE_DIRECTORIES(BEFORE SYSTEM ${RSB_INCLUDE_DIRS})


  		




  42
  
  
    
    LIST(INSERT CMAKE_MODULE_PATH 0 ${RSC_CMAKE_MODULE_PATH})


  		




  43
  
  
    

  		




  44
  
  
    
    message(STATUS "RSB Support is ON")


  		




  45
  
  
    
    add_definitions(-DRSB_SUPPORT=1)


  		




  46
  
  
    
ENDIF (RSB_FOUND)


  		




  47
  
  
    
ENDIF(IGNORE_RSB)


  		




  48
  
  
    

  		




  49
  8
  
    
################################################################


  		




  50
  9
  
    
# check for ROS support:


  		




  51
  10
  
    
find_package(catkin REQUIRED COMPONENTS roscpp std_msgs sensor_msgs message_generation genmsg)


  		




  52
  
  
    
IF (catkin_FOUND)


  		




  53
  
  
    
    set(ROS_FOUND 1)


  		




  54
  
  
    
    message(STATUS "ROS Support is ON")


  		




  55
  
  
    
    add_definitions(-DROS_SUPPORT=1)


  		




  
  11
  
    
IF (NOT catkin_FOUND)


  		




  
  12
  
    
  MESSAGE(FATAL_ERROR "Error: could not find ROS middleware!")


  		




  56
  13
  
    
ENDIF (catkin_FOUND)


  		




  57
  14
  
    

  		




  58
  
  
    

  		




  59
  15
  
    
INCLUDE(FindPkgConfig)


  		




  60
  16
  
    

  		




  61
  17
  
    
##libreflexxes


  		




  ......




  69
  25
  
    
  ENDIF ()


  		




  70
  26
  
    
ENDIF ()


  		




  71
  27
  
    

  		




  72
  
  
    
IF (NOT catkin_FOUND AND NOT RSB_FOUND)


  		




  73
  
  
    
  message(FATAL_ERROR "Error: could neither find RSB or ROS middleware!")


  		




  74
  
  
    
ENDIF ()


  		




  75
  
  
    

  		




  76
  28
  
    

  		




  77
  29
  
    
SET(REFLEXXES_LIBRARY_DIRS "${REFLEXXES_PREFIX}/lib")


  		




  78
  30
  
    
SET(REFLEXXES_INCLUDE_DIRS "${REFLEXXES_PREFIX}/include")


  		




  ......




  81
  33
  
    
find_library(REFLEXXES_LIBRARY NAMES ${REFLEXXES_LIBRARIES} HINTS ${REFLEXXES_LIBRARY_DIRS})


  		




  82
  34
  
    

  		




  83
  35
  
    
MESSAGE("-- using libReflexxesTypeII version ${REFLEXXES_VERSION} from ${REFLEXXES_INCLUDE_DIRS} and ${REFLEXXES_LIBRARY_DIRS}")


  		




  84
  
  
    
MESSAGE("-- will ink against ${REFLEXXES_LIBRARY}")


  		




  
  36
  
    
MESSAGE("-- will link against ${REFLEXXES_LIBRARY}")


  		




  85
  37
  
    

  		




  86
  38
  
    
set(CMAKE_CXX_FLAGS "-g -Wall")


  		




  87
  39
  
    
add_definitions ("-Wall")


  		




  88
  40
  
    

  		




  
  41
  
    
#######################################


  		




  
  42
  
    
## Declare ROS messages and services ##


  		




  
  43
  
    
#######################################


  		




  89
  44
  
    

  		




  90
  
  
    
IF (catkin_FOUND)


  		




  91
  
  
    
    #######################################


  		




  92
  
  
    
    ## Declare ROS messages and services ##


  		




  93
  
  
    
    #######################################


  		




  94
  
  
    

  		




  95
  
  
    
    add_message_files(


  		




  96
  
  
    
            FILES


  		




  97
  
  
    
            gaze.msg


  		




  98
  
  
    
            position_lcr.msg


  		




  99
  
  
    
            mouth.msg


  		




  100
  
  
    
    )


  		




  101
  
  
    

  		




  102
  
  
    
    ## Generate added messages and services with any dependencies listed here


  		




  103
  
  
    
    generate_messages(


  		




  104
  
  
    
            DEPENDENCIES


  		




  105
  
  
    
            std_msgs


  		




  106
  
  
    
            humotion


  		




  107
  
  
    
    )


  		




  108
  
  
    

  		




  109
  
  
    

  		




  110
  
  
    
    #


  		




  111
  
  
    
    ###################################


  		




  112
  
  
    
    ## catkin specific configuration ##


  		




  113
  
  
    
    ###################################


  		




  114
  
  
    
    ## The catkin_package macro generates cmake config files for your package


  		




  115
  
  
    
    ## Declare things to be passed to dependent projects


  		




  116
  
  
    
    ## INCLUDE_DIRS: uncomment this if you package contains header files


  		




  117
  
  
    
    ## LIBRARIES: libraries you create in this project that dependent projects also need


  		




  118
  
  
    
    ## CATKIN_DEPENDS: catkin_packages dependent projects also need


  		




  119
  
  
    
    ## DEPENDS: system dependencies of this project that dependent projects also need


  		




  120
  
  
    
    catkin_package(


  		




  121
  
  
    
        INCLUDE_DIRS include


  		




  122
  
  
    
        LIBRARIES humotion


  		




  123
  
  
    
        #CATKIN_DEPENDS message_runtime


  		




  124
  
  
    
        #DEPENDS system_lib


  		




  125
  
  
    
    )


  		




  126
  
  
    
ENDIF (catkin_FOUND)


  		




  
  45
  
    
add_message_files(


  		




  
  46
  
    
        FILES


  		




  
  47
  
    
        gaze.msg


  		




  
  48
  
    
        position_lcr.msg


  		




  
  49
  
    
        mouth.msg


  		




  
  50
  
    
)


  		




  
  51
  
    

  		




  
  52
  
    
## Generate added messages and services with any dependencies listed here


  		




  
  53
  
    
generate_messages(


  		




  
  54
  
    
        DEPENDENCIES


  		




  
  55
  
    
        std_msgs


  		




  
  56
  
    
        humotion


  		




  
  57
  
    
)


  		




  
  58
  
    

  		




  
  59
  
    

  		




  
  60
  
    
#


  		




  
  61
  
    
###################################


  		




  
  62
  
    
## catkin specific configuration ##


  		




  
  63
  
    
###################################


  		




  
  64
  
    
## The catkin_package macro generates cmake config files for your package


  		




  
  65
  
    
## Declare things to be passed to dependent projects


  		




  
  66
  
    
## INCLUDE_DIRS: uncomment this if you package contains header files


  		




  
  67
  
    
## LIBRARIES: libraries you create in this project that dependent projects also need


  		




  
  68
  
    
## CATKIN_DEPENDS: catkin_packages dependent projects also need


  		




  
  69
  
    
## DEPENDS: system dependencies of this project that dependent projects also need


  		




  
  70
  
    
catkin_package(


  		




  
  71
  
    
    INCLUDE_DIRS include


  		




  
  72
  
    
    LIBRARIES humotion


  		




  
  73
  
    
    #CATKIN_DEPENDS message_runtime


  		




  
  74
  
    
    #DEPENDS system_lib


  		




  
  75
  
    
)


  		




  127
  76
  
    

  		




  128
  77
  
    
###########


  		




  129
  78
  
    
## Build ##


  		




  ......




  153
  102
  
    
    src/client/client.cpp


  		




  154
  103
  
    
    src/client/middleware.cpp


  		




  155
  104
  
    
    src/client/middleware_ros.cpp


  		




  156
  
  
    
    src/client/middleware_rsb.cpp


  		




  157
  105
  
    

  		




  158
  106
  
    
    src/server/server.cpp


  		




  159
  107
  
    
    src/server/middleware.cpp


  		




  160
  108
  
    
    src/server/middleware_ros.cpp


  		




  161
  
  
    
    src/server/middleware_rsb.cpp


  		




  162
  109
  
    

  		




  163
  110
  
    
    src/server/controller.cpp


  		




  164
  111
  
    
    src/server/joint_interface.cpp


  		




  ......




  177
  124
  
    

  		




  178
  125
  
    
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")


  		




  179
  126
  
    

  		




  180
  
  
    

  		




  181
  127
  
    
## Add cmake target dependencies of the executable/library


  		




  182
  128
  
    
## as an example, message headers may need to be generated before nodes


  		




  183
  129
  
    
add_dependencies(humotion ${catkin_EXPORTED_TARGETS} humotion_gencpp)


  		




  184
  130
  
    

  		




  185
  131
  
    
## Specify libraries to link a library or executable target against


  		




  186
  132
  
    
target_link_libraries(humotion


  		




  187
  
  
    
			${Boost_LIBRARIES}


  		




  188
  
  
    
			${catkin_LIBRARIES}


  		




  189
  
  
    
			${REFLEXXES_LIBRARY}


  		




  190
  
  
    
			${RST_LIBRARIES}


  		




  191
  
  
    
			${RSB_LIBRARIES}


  		




  
  133
  
    
    ${Boost_LIBRARIES}


  		




  
  134
  
    
    ${catkin_LIBRARIES}


  		




  
  135
  
    
    ${REFLEXXES_LIBRARY}


  		




  192
  136
  
    
)


  		




  193
  137
  
    

  		




  194
  138
  
    
set_property(TARGET humotion PROPERTY INSTALL_RPATH_USE_LINK_PATH TRUE)


  		




  ......




  208
  152
  
    
# )


  		




  209
  153
  
    

  		




  210
  154
  
    
## Mark executables and/or libraries for installation


  		




  211
  
  
    
IF (catkin_FOUND)


  		




  212
  
  
    
    install(TARGETS humotion


  		




  213
  
  
    
        ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}


  		




  214
  
  
    
        LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}


  		




  215
  
  
    
        RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}


  		




  216
  
  
    
    )


  		




  217
  
  
    
    ## Mark cpp header files for installation


  		




  218
  
  
    
    install(DIRECTORY include/humotion/


  		




  219
  
  
    
        DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}


  		




  220
  
  
    
    )


  		




  221
  
  
    
ENDIF (catkin_FOUND)


  		




  222
  
  
    

  		




  
  155
  
    
install(TARGETS humotion


  		




  
  156
  
    
    ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}


  		




  
  157
  
    
    LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}


  		




  
  158
  
    
    RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}


  		




  
  159
  
    
)


  		




  
  160
  
    
## Mark cpp header files for installation


  		




  
  161
  
    
install(DIRECTORY include/humotion/


  		




  
  162
  
    
    DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}


  		




  
  163
  
    
)


  		




  223
  164
  
    

  		




  224
  165
  
    
#############


  		




  225
  166
  
    
## Testing ##


  		




  226
  167
  
    
#############


  		




  227
  
  
    
IF (catkin_FOUND)


  		




  228
  
  
    
    ## Add gtest based cpp test target and link libraries


  		




  229
  
  
    
    catkin_add_gtest(${PROJECT_NAME}-test-server test/server.cpp)


  		




  230
  
  
    
    if(TARGET ${PROJECT_NAME}-test-server)


  		




  231
  
  
    
    target_link_libraries(${PROJECT_NAME}-test-server ${PROJECT_NAME})


  		




  232
  
  
    
    endif()


  		




  233
  
  
    
    catkin_add_gtest(${PROJECT_NAME}-test-client test/client.cpp)


  		




  234
  
  
    
    if(TARGET ${PROJECT_NAME}-test-client)


  		




  235
  
  
    
    target_link_libraries(${PROJECT_NAME}-test-client ${PROJECT_NAME})


  		




  236
  
  
    
    endif()


  		




  237
  
  
    
    catkin_add_gtest(${PROJECT_NAME}-test-timestamp test/timestamp.cpp)


  		




  238
  
  
    
    if(TARGET ${PROJECT_NAME}-test-timestamp)


  		




  239
  
  
    
    target_link_libraries(${PROJECT_NAME}-test-timestamp ${PROJECT_NAME})


  		




  240
  
  
    
    endif()


  		




  241
  
  
    
ENDIF (catkin_FOUND)


  		




  242
  
  
    

  		




  
  168
  
    
## Add gtest based cpp test target and link libraries


  		




  
  169
  
    
catkin_add_gtest(${PROJECT_NAME}-test-server test/server.cpp)


  		




  
  170
  
    
if(TARGET ${PROJECT_NAME}-test-server)


  		




  
  171
  
    
target_link_libraries(${PROJECT_NAME}-test-server ${PROJECT_NAME})


  		




  
  172
  
    
endif()


  		




  
  173
  
    
catkin_add_gtest(${PROJECT_NAME}-test-client test/client.cpp)


  		




  
  174
  
    
if(TARGET ${PROJECT_NAME}-test-client)


  		




  
  175
  
    
target_link_libraries(${PROJECT_NAME}-test-client ${PROJECT_NAME})


  		




  
  176
  
    
endif()


  		




  
  177
  
    
catkin_add_gtest(${PROJECT_NAME}-test-timestamp test/timestamp.cpp)


  		




  
  178
  
    
if(TARGET ${PROJECT_NAME}-test-timestamp)


  		




  
  179
  
    
target_link_libraries(${PROJECT_NAME}-test-timestamp ${PROJECT_NAME})


  		




  
  180
  
    
endif()


  		




  243
  181
  
    

  		




  244
  182
  
    
### Add folders to be run by python nosetests


  		




  245
  183
  
    
# catkin_add_nosetests(test)


  		












  

    
      include/humotion/client/middleware_ros.h
    
  





  30
  30
  
    
* Forschungsgemeinschaft (DFG) in the context of the German


  		




  31
  31
  
    
* Excellence Initiative.


  		




  32
  32
  
    
*/


  		




  
  33
  
    
#include "ros/ros.h"


  		




  33
  34
  
    

  		




  34
  35
  
    
namespace humotion{


  		




  35
  36
  
    
namespace client{


  		




  36
  37
  
    

  		




  37
  38
  
    
class MiddlewareROS : public Middleware{


  		




  38
  
  
    
#ifndef ROS_SUPPORT


  		




  39
  
  
    
public:


  		




  40
  
  
    
    MiddlewareROS(std::string name) : Middleware(name){


  		




  41
  
  
    
        printf("> ERROR: humotion was compiled without ROS middleware support. Please use MiddlewareRSB() instead!\n\n");


  		




  42
  
  
    
        exit(EXIT_FAILURE);


  		




  43
  
  
    
    }


  		




  44
  
  
    

  		




  45
  
  
    
    ~MiddlewareROS(){}


  		




  46
  
  
    
    void send_mouth_target(){};


  		




  47
  
  
    
    void send_gaze_target(){};


  		




  48
  
  
    
    bool ok(){ return false; }


  		




  49
  
  
    
    void tick(){}


  		




  50
  
  
    

  		




  51
  
  
    
#else


  		




  52
  39
  
    
public:


  		




  53
  40
  
    
    MiddlewareROS(std::string name);


  		




  54
  41
  
    
    ~MiddlewareROS();


  		




  ......




  64
  51
  
    
    //boost::shared_ptr<ros::NodeHandle> node_handle;


  		




  65
  52
  
    
    ros::Publisher mouth_target_publisher;


  		




  66
  53
  
    
    ros::Publisher gaze_target_publisher;


  		




  67
  
  
    
#endif


  		




  68
  54
  
    
};


  		




  69
  55
  
    

  		




  70
  56
  
    
}


  		












  

    
      include/humotion/server/middleware_ros.h
    
  





  29
  29
  
    
#include "middleware.h"


  		




  30
  30
  
    
#include "humotion/mouth.h"


  		




  31
  31
  
    
#include "humotion/gaze.h"


  		




  32
  
  
    

  		




  33
  
  
    
#ifdef ROS_SUPPORT


  		




  34
  32
  
    
#include "ros/ros.h"


  		




  35
  
  
    
#endif


  		




  36
  
  
    

  		




  37
  33
  
    
#include <boost/shared_ptr.hpp>


  		




  38
  34
  
    

  		




  39
  35
  
    
namespace humotion{


  		




  40
  36
  
    
namespace server{


  		




  41
  37
  
    

  		




  42
  38
  
    
class MiddlewareROS : public Middleware{


  		




  43
  
  
    
#ifndef ROS_SUPPORT


  		




  44
  
  
    
public:


  		




  45
  
  
    
    MiddlewareROS(std::string name, Controller *c) : Middleware(name, c){


  		




  46
  
  
    
        printf("> ERROR: humotion was compiled without ROS middleware support. Please use MiddlewareRSB() instead!\n\n");


  		




  47
  
  
    
        exit(EXIT_FAILURE);


  		




  48
  
  
    
    }


  		




  49
  
  
    

  		




  50
  
  
    
    ~MiddlewareROS(){}


  		




  51
  
  
    
    bool ok(){ return false; }


  		




  52
  
  
    
    void tick(){}


  		




  53
  
  
    

  		




  54
  
  
    
#else


  		




  55
  39
  
    
public:


  		




  56
  40
  
    
    MiddlewareROS(std::string name, Controller *c);


  		




  57
  41
  
    
    ~MiddlewareROS();


  		




  ......




  65
  49
  
    

  		




  66
  50
  
    
    ros::Subscriber mouth_target_subscriber;


  		




  67
  51
  
    
    ros::Subscriber gaze_target_subscriber;


  		




  68
  
  
    
#endif


  		




  69
  52
  
    
};


  		




  70
  53
  
    

  		




  71
  54
  
    
}


  		












  

    
      include/humotion/server/middleware_rsb.h
    
  





  1
  
  
    
/*


  		




  2
  
  
    
* This file is part of humotion


  		




  3
  
  
    
*


  		




  4
  
  
    
* Copyright(c) sschulz <AT> techfak.uni-bielefeld.de


  		




  5
  
  
    
* http://opensource.cit-ec.de/projects/humotion


  		




  6
  
  
    
*


  		




  7
  
  
    
* This file may be licensed under the terms of the


  		




  8
  
  
    
* GNU Lesser General Public License Version 3 (the ``LGPL''),


  		




  9
  
  
    
* or (at your option) any later version.


  		




  10
  
  
    
*


  		




  11
  
  
    
* Software distributed under the License is distributed


  		




  12
  
  
    
* on an ``AS IS'' basis, WITHOUT WARRANTY OF ANY KIND, either


  		




  13
  
  
    
* express or implied. See the LGPL for the specific language


  		




  14
  
  
    
* governing rights and limitations.


  		




  15
  
  
    
*


  		




  16
  
  
    
* You should have received a copy of the LGPL along with this


  		




  17
  
  
    
* program. If not, go to http://www.gnu.org/licenses/lgpl.html


  		




  18
  
  
    
* or write to the Free Software Foundation, Inc.,


  		




  19
  
  
    
* 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.


  		




  20
  
  
    
*


  		




  21
  
  
    
* The development of this software was supported by the


  		




  22
  
  
    
* Excellence Cluster EXC 277 Cognitive Interaction Technology.


  		




  23
  
  
    
* The Excellence Cluster EXC 277 is a grant of the Deutsche


  		




  24
  
  
    
* Forschungsgemeinschaft (DFG) in the context of the German


  		




  25
  
  
    
* Excellence Initiative.


  		




  26
  
  
    
*/


  		




  27
  
  
    

  		




  28
  
  
    
#pragma once


  		




  29
  
  
    
#include "middleware.h"


  		




  30
  
  
    
#include "humotion/mouth.h"


  		




  31
  
  
    
#include "humotion/gaze.h"


  		




  32
  
  
    

  		




  33
  
  
    
#ifdef RSB_SUPPORT


  		




  34
  
  
    
    #define BOOST_SIGNALS_NO_DEPRECATION_WARNING 1


  		




  35
  
  
    
    #include <rsb/Listener.h>


  		




  36
  
  
    
    #include <rst/robot/HumotionGazeTarget.pb.h>


  		




  37
  
  
    
    #include <rst/robot/MouthTarget.pb.h>


  		




  38
  
  
    
#endif


  		




  39
  
  
    

  		




  40
  
  
    
namespace humotion{


  		




  41
  
  
    
namespace server{


  		




  42
  
  
    

  		




  43
  
  
    
class MiddlewareRSB : public Middleware{


  		




  44
  
  
    

  		




  45
  
  
    
#ifndef RSB_SUPPORT


  		




  46
  
  
    
public:


  		




  47
  
  
    
    MiddlewareRSB(std::string name, Controller *c) : Middleware(name, c){


  		




  48
  
  
    
        printf("> ERROR: humotion was compiled without RSB middleware support. Please use MiddlewareROS() instead!\n\n");


  		




  49
  
  
    
        exit(EXIT_FAILURE);


  		




  50
  
  
    
    }


  		




  51
  
  
    

  		




  52
  
  
    
    ~MiddlewareRSB(){}


  		




  53
  
  
    
    bool ok(){ return false; }


  		




  54
  
  
    
    void tick(){}


  		




  55
  
  
    

  		




  56
  
  
    
#else


  		




  57
  
  
    
public:


  		




  58
  
  
    
    MiddlewareRSB(std::string name, Controller *c);


  		




  59
  
  
    
    ~MiddlewareRSB();


  		




  60
  
  
    

  		




  61
  
  
    
    bool ok();


  		




  62
  
  
    
    void tick();


  		




  63
  
  
    

  		




  64
  
  
    

  		




  65
  
  
    
private:


  		




  66
  
  
    

  		




  67
  
  
    
    void incoming_mouth_target(boost::shared_ptr<rst::robot::MouthTarget> event);


  		




  68
  
  
    
    void incoming_gaze_target(rsb::EventPtr e);


  		




  69
  
  
    

  		




  70
  
  
    
    rsb::ListenerPtr mouth_target_listener;


  		




  71
  
  
    
    rsb::ListenerPtr gaze_target_listener;


  		




  72
  
  
    

  		




  73
  
  
    
#endif


  		




  74
  
  
    
};


  		




  75
  
  
    

  		




  76
  
  
    
}


  		




  77
  
  
    
}


  		




  
  1
  
    
dropped RSB support


  		












  

    
      src/client/client.cpp
    
  





  27
  27
  
    

  		




  28
  28
  
    
#include "client/client.h"


  		




  29
  29
  
    
#include "client/middleware_ros.h"


  		




  30
  
  
    
#include "client/middleware_rsb.h"


  		




  31
  30
  
    
#include <boost/algorithm/string.hpp>


  		




  32
  31
  
    

  		




  33
  32
  
    
using namespace std;


  		




  ......




  46
  45
  
    
    //start middleware:


  		




  47
  46
  
    
    if (mw == "ROS"){


  		




  48
  47
  
    
        middleware = new MiddlewareROS(scope);


  		




  49
  
  
    
    }else if (mw == "RSB"){


  		




  50
  
  
    
        middleware = new MiddlewareRSB(scope);


  		




  51
  48
  
    
    }else{


  		




  52
  
  
    
        printf("> ERROR: invalid mw '%s' given. Please use ROS or RSB\n\n",mw.c_str());


  		




  
  49
  
    
        printf("> ERROR: invalid mw '%s' given. RSB support was droppd. please use ROS\n\n",mw.c_str());


  		




  53
  50
  
    
        exit(EXIT_FAILURE);


  		




  54
  51
  
    
    }


  		




  55
  52
  
    
}


  		












  

    
      src/client/middleware_ros.cpp
    
  





  27
  27
  
    

  		




  28
  28
  
    
#include "client/middleware_ros.h"


  		




  29
  29
  
    

  		




  30
  
  
    
#ifdef ROS_SUPPORT


  		




  31
  
  
    

  		




  32
  30
  
    
#include "humotion/mouth.h"


  		




  33
  31
  
    
#include "humotion/gaze.h"


  		




  34
  32
  
    
#include <boost/range/algorithm/remove_if.hpp>


  		




  ......




  146
  144
  
    
    tick();


  		




  147
  145
  
    
}


  		




  148
  146
  
    

  		




  149
  
  
    
#endif


  		












  

    
      src/server/middleware_ros.cpp
    
  





  27
  27
  
    

  		




  28
  28
  
    
#include "server/middleware_ros.h"


  		




  29
  29
  
    

  		




  30
  
  
    
#ifdef ROS_SUPPORT


  		




  31
  
  
    

  		




  32
  30
  
    
#include <boost/range/algorithm/remove_if.hpp>


  		




  33
  31
  
    
#include <boost/algorithm/string/classification.hpp>


  		




  34
  32
  
    
using namespace std;


  		




  ......




  134
  132
  
    

  		




  135
  133
  
    
}


  		




  136
  134
  
    

  		




  137
  
  
    
#endif


  		












  

    
      src/server/server.cpp
    
  





  27
  27
  
    

  		




  28
  28
  
    
#include "server/server.h"


  		




  29
  29
  
    
#include "server/middleware_ros.h"


  		




  30
  
  
    
#include "server/middleware_rsb.h"


  		




  31
  30
  
    
#include <boost/algorithm/string.hpp>


  		




  32
  31
  
    
#include <string>


  		




  33
  32
  
    

  		




  ......




  60
  59
  
    
    //start middleware:


  		




  61
  60
  
    
    if (mw == "ROS"){


  		




  62
  61
  
    
        middleware = new MiddlewareROS(scope, controller);


  		




  63
  
  
    
    }else if (mw == "RSB"){


  		




  64
  
  
    
        middleware = new MiddlewareRSB(scope, controller);


  		




  65
  62
  
    
    }else{


  		




  66
  
  
    
        printf("> ERROR: invalid mw '%s' given. Please use ROS or RSB\n\n",mw.c_str());


  		




  
  63
  
    
        printf("> ERROR: invalid mw '%s' given. RSB support was dropped. Please use ROS\n\n",mw.c_str());


  		




  67
  64
  
    
        exit(EXIT_FAILURE);


  		




  68
  65
  
    
    }


  		




  69
  66
  
    

  		












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