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"

//callback handler incoming gaze requests:

class MouthCallbackWrapper : public CallbackWrapper<rst::robot::MouthTarget>{

    public:

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

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

            rst::robot::MouthTarget *mouth = input.get();

            humotion::MouthState mouth_state;

            //fill in mouth

            mouth_state.opening_left   = mouth->opening_left();

            mouth_state.opening_center = mouth->opening_center();

            mouth_state.opening_right  = mouth->opening_right();

            mouth_state.position_left   = mouth->position_left();

            mouth_state.position_center = mouth->position_center();

            mouth_state.position_right  = mouth->position_right();

            //send to application:

            mw->mouth_callback(mouth_state);

        }

};