Revision 4bd3e852 server/include/RSB/AnimationCallbackWrapper.h

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server/include/RSB/AnimationCallbackWrapper.h
31 31 
#include "Animation.h"
32 32 

  		




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//callback handler incoming animation requests:


  		




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


  		




  
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class AnimationCallbackWrapper : public CallbackWrapper<rst::animation::HeadAnimation>{


  		




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    public:


  		




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


  		




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


  		




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


  		




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


  		




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           //fetch animation passed by rsb:


  		




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


  		




  
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           rst::animation::HeadAnimation *rst_ani = input.get();


  		




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


  		




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


  		




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


  		




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


  		




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


  		




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


  		




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


  		




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


  		




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


  		




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


  		




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


  		




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


  		




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


  		




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


  		




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


  		




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


  		




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


  		




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


  		




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


  		




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


  		




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


  		




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               default:


  		




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                   ani->target = Animation::IDLE;


  		




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


  		




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


  		




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


  		




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                   return;


  		




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           }


  		




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


  		




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


  		




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


  		




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


  		




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


  		




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