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"

#include "Animation.h"

//callback handler incoming animation requests:

class AnimationCallbackWrapper : public CallbackWrapper<rst::robot::Animation>{

    public:

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

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

           printf("> incomint animation (method = %s)\n",method_name.c_str());

           //fetch animation passed by rsb:

           rst::robot::Animation *rst_ani = input.get();

           boost::shared_ptr<Animation> ani(new Animation());

           switch ((int) rst_ani->target()){

               case(rst_ani->IDLE):         ani->target = Animation::IDLE; break;

               case(rst_ani->HEAD_NOD):     ani->target = Animation::HEAD_NOD; break;

               case(rst_ani->HEAD_SHAKE):   ani->target = Animation::HEAD_SHAKE; break;

               case(rst_ani->EYEBLINK_L):   ani->target = Animation::EYEBLINK_L; break;

               case(rst_ani->EYEBLINK_R):   ani->target = Animation::EYEBLINK_R; break;

               case(rst_ani->EYEBLINK_BOTH):ani->target = Animation::EYEBLINK_BOTH; break;

               case(rst_ani->EYEBROWS_RAISE):ani->target = Animation::EYEBROWS_RAISE;break;

               case(rst_ani->EYEBROWS_LOWER):ani->target = Animation::EYEBROWS_LOWER;break;

               default:

                   ani->target = Animation::IDLE;

                   printf("> unhandled animatin target %d\n",(int)rst_ani->target());

                   throw std::runtime_error("AnimationCallback: invalid animation id");

                   return;

           }

           ani->repetitions   = rst_ani->repetitions();

           ani->duration_each = rst_ani->duration_each();

           ani->scale         = rst_ani->scale();

           printf("> new Animation: %s\n", ani->as_string().c_str());

           //send to application

           mw->animation_callback(ani);

       }

};