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 "hlrc_server/animationAction.h"

#include "CallbackWrapperROS.h"

//callback handler incoming gaze requests:

class AnimationCallbackWrapper : CallbackWrapper<hlrc_server::animationAction>{

protected:

    hlrc_server::animationFeedback feedback;

    hlrc_server::animationResult result;

public:

    AnimationCallbackWrapper(Middleware *mw, std::string scope, std::string name) : CallbackWrapper<hlrc_server::animationAction>(mw, scope, name, boost::bind(&AnimationCallbackWrapper::call, this, _1)){

        //

    };

    void call(const GoalConstPtr &goal){

        hlrc_server::animationGoalConstPtr request = goal;

        printf("> incoming animation (%d)\n", (int)request->target);

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

        //everything is ok, will be cleared on failures

        feedback.result = 1;

        switch ((int) request->target){

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

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

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

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

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

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

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

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

            default:

                ani->target = Animation::IDLE;

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

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

                feedback.result = 0;

        }

       ani->repetitions   = request->repetitions;

       ani->duration_each = request->duration_each;

       ani->scale         = request->scale;

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

       //send to application

       mw->animation_callback(ani);

        if (feedback.result){

            result.result = 1;

            as_.setSucceeded(result);

        }else{

            as_.setAborted(result);

        }

    }

};