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 "client/client.h"

#include "client/middleware_ros.h"

#include "client/middleware_rsb.h"

#include <boost/algorithm/string.hpp>

using namespace std;

using namespace boost;

using namespace humotion;

using namespace humotion::client;

//! constructor

//! open a new client instance.

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

    //convert mw to uppercase:

    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 MiddlewareROS(scope);

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

        middleware = new MiddlewareRSB(scope);

    }else{

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

}