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/mouthtargetAction.h"

#include "CallbackWrapperROS.h"

//callback handler incoming gaze requests:

class MouthCallbackWrapper : CallbackWrapper<hlrc_server::mouthtargetAction>{

protected:

    hlrc_server::mouthtargetFeedback feedback;

    hlrc_server::mouthtargetResult result;

public:

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

        //

    };

    void call(const GoalConstPtr &goal){

        feedback.result = 1;

        hlrc_server::mouthtargetGoalConstPtr request = goal;

        humotion::MouthState mouth_state;

        //fill in mouth

        //#include "RSB/SpeechCallbackWrapper.h".opening_left   = request->opening_left;

        mouth_state.opening_center = request->opening_center;

        mouth_state.opening_right  = request->opening_right;

        mouth_state.position_left   = request->position_left;

        mouth_state.position_center = request->position_center;

        mouth_state.position_right  = request->position_right;

        //processing

        feedback.result = 1;

        as_.publishFeedback(feedback);

        //send to application:

        mw->mouth_callback(mouth_state);

        if (feedback.result){

            result.result = feedback.result;

            as_.setSucceeded(result);

        }else{

            as_.setAborted(result);

        }

    }

};