path_planning.hpp

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#ifndef RAPP_CLOUD_PATH_PLANNING
#define RAPP_CLOUD_PATH_PLANNING
#include "includes.ihh"
namespace rapp {
namespace cloud {
class plan_path_2d : public asio_service_http
{
public:
    typedef rapp::object::microphone_wav wav_file;
    plan_path_d2(
                  const std::string map_name,
                  const std::string robot_type,
                  const std::string algorithm,
                  // TODO: ROS-PoseStampes must be somehow Wrapped/Translated
                  std::function<void(std::unique_ptr<wav_file>)> callback,
                  const std::string token
                )
    : asio_service_http(token), delegate_(callback)
    {
        boost::property_tree::ptree tree;
        tree.put("text", text);
        tree.put("language", language);
        std::stringstream ss;
        boost::property_tree::write_json(ss, tree, false);
        post_ = ss.str();
        header_ = "POST /hop/text_to_speech HTTP/1.1\r\n";
        callback_ = std::bind(&text_to_speech::handle_reply, this, std::placeholders::_1);
    }
private:
    void handle_reply(std::string json)
    {
        std::stringstream ss(json);
        std::vector<rapp::types::byte> bytearray;
        try {
            boost::property_tree::ptree tree;
            boost::property_tree::read_json(ss, tree);

            // capture audio payload (base64-encoded)   
            for (auto child : tree.get_child("payload")) {
                // base64-encoded audio
                std::string result = child.second.get_value<std::string>();
                std::string decoded = decode64(result);
                std::copy(decoded.begin(), decoded.end(), std::back_inserter(bytearray));
            }
            for (auto child : tree.get_child("error")) {
                const std::string value = child.second.get_value<std::string>();
                if (!value.empty()) {
                    std::cerr << "text_to_speech JSON error: " << value << std::endl;
                }
            }
        }
        catch (boost::property_tree::json_parser::json_parser_error & je) {
            std::cerr << "text_to_speech::handle_reply Error parsing: " << je.filename() 
                      << " on line: " << je.line() << std::endl;
            std::cerr << je.message() << std::endl;
        }
        // create wav file and move it to the delegate
        auto wav = std::unique_ptr<rapp::object::microphone_wav>(
                                            new rapp::object::microphone_wav(bytearray));
        delegate_(std::move(wav));
    }

    std::function<void(std::unique_ptr<wav_file> wav)> delegate_;
};

// TODO: path_upload_map
class path_upload_map : public asio_service_http
{
public:

private:

};
}
}
#endif