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

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server/include/RSB/EmotionCallbackWrapper.h
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#include "CallbackWrapper.h"
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//callback handler incoming emotion requests:


  		




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


  		




  
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class EmotionCallbackWrapper : public CallbackWrapper<rst::animation::EmotionExpression>{


  		




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    public:


  		




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


  		




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


  		




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


  		




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


  		




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


  		




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           EmotionState emotion_state;


  		




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


  		




  
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           rst::animation::EmotionExpression *emotion = input.get();


  		




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


  		




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


  		




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


  		




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


  		




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


  		




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


  		




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


  		




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


  		




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


  		




  
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               case(rst::animation::EmotionExpression_Emotion_NEUTRAL):   emotion_state.value = EmotionConfig::NEUTRAL; break;


  		




  
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               case(rst::animation::EmotionExpression_Emotion_HAPPY):     emotion_state.value = EmotionConfig::HAPPY; break;


  		




  
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               case(rst::animation::EmotionExpression_Emotion_SAD):       emotion_state.value = EmotionConfig::SAD; break;


  		




  
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               case(rst::animation::EmotionExpression_Emotion_ANGRY):     emotion_state.value = EmotionConfig::ANGRY; break;


  		




  
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               case(rst::animation::EmotionExpression_Emotion_SURPRISED): emotion_state.value = EmotionConfig::SURPRISED; break;


  		




  
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               case(rst::animation::EmotionExpression_Emotion_FEAR):      emotion_state.value = EmotionConfig::FEAR; break;


  		




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               default:


  		




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


  		




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


  		




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           }


  		




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           emotion_state.duration = emotion->duration();


  		












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