hlrc

/*

* This file is part of hlrc_server

*

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

* http://opensource.cit-ec.de/projects/hlrc_server

*

* This file may be licensed under the terms of the

* GNU General Public License Version 3 (the ``GPL''),

* 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 GPL for the specific language

* governing rights and limitations.

*

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

* program. If not, go to http://www.gnu.org/licenses/gpl.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 "CallbackWrapper.h"

//callback handler incoming emotion requests:

class EmotionCallbackWrapper : public CallbackWrapper<rst::robot::EmotionState>{

    public:

       EmotionCallbackWrapper(Middleware *mw) : CallbackWrapper(mw){}

       void call(const std::string& method_name, boost::shared_ptr<rst::robot::EmotionState> input){

           printf("> incoming emotion (%s = %d)\n", method_name.c_str(),(int)input->value());

           EmotionState emotion_state;

           rst::robot::EmotionState *emotion = input.get();

           //extract data & copy it to our datatype (might be good when we allow multiple middlewares in the feature)

           switch ((int)emotion->value()){

               case(rst::robot::EmotionState_EmotionType_NEUTRAL):   emotion_state.value = EmotionConfig::NEUTRAL; break;

               case(rst::robot::EmotionState_EmotionType_HAPPY):     emotion_state.value = EmotionConfig::HAPPY; break;

               case(rst::robot::EmotionState_EmotionType_SAD):       emotion_state.value = EmotionConfig::SAD; break;

               case(rst::robot::EmotionState_EmotionType_ANGRY):     emotion_state.value = EmotionConfig::ANGRY; break;

               case(rst::robot::EmotionState_EmotionType_SURPRISED): emotion_state.value = EmotionConfig::SURPRISED; break;

               case(rst::robot::EmotionState_EmotionType_FEAR):      emotion_state.value = EmotionConfig::FEAR; break;

               default:

               printf("> invalid EmotionState value. exiting\n"); exit(EXIT_FAILURE);

           }

           emotion_state.duration = emotion->duration();

           //send to application

           if (method_name == "defaultEmotion"){

               //set default emotion:

               mw->default_emotion_callback(emotion_state);

           }else if (method_name == "currentEmotion"){

               //set current emotion:

               mw->current_emotion_callback(emotion_state);

           }else{

               printf("> invalid method called '%s'\n",method_name.c_str());

               exit(EXIT_FAILURE);

           }

        }

};