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.

*/

#include <boost/algorithm/string.hpp>

#include <string>

#include "humotion/client/client.h"

#include "humotion/client/middleware_ros.h"

// using namespace std;

// using namespace boost;

// using namespace humotion;

using humotion::client::Client;

//! constructor

//! open a new client instance.

Client::Client(std::string scope, std::string mw) {

    // convert mw to uppercase

    boost::to_upper(mw);

    printf("> initializing humotion client (on %s, middleware=%s)\n", scope.c_str(), mw.c_str());

    // start middleware

    if (mw == "ROS") {

        middleware_ = new humotion::client::MiddlewareROS(scope);

    } else {

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

               mw.c_str());

        exit(EXIT_FAILURE);

    }

}

//! destructor

Client::~Client() {

}

//! check if connection is ok

//! \return true if conn is alive

bool Client::ok() {

    return middleware_->ok();

}

//! do a single middleware tick:

void Client::tick() {

    middleware_->tick();

}

//! set mouth position

//! \param MouthState m to set

//! \param send data to server (optional, use manual call to send_*() to trigger update on server)

void Client::update_mouth_target(MouthState m, bool send) {

    middleware_->update_mouth_target(m, send);

}

//! set gaze direction

//! \param GazeState m to set

//! \param send data to server (optional, use manual call to send_*() to trigger update on server)

void Client::update_gaze_target(GazeState s, bool send) {

    middleware_->update_gaze_target(s, send);

}

//! send all targets to server

void Client::send_all() {

    middleware_->send_all();

}