hlrc / server / include / ROS / GazeCallbackWrapperROS.h @ 8b670e17
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1 | 0c286af0 | Simon Schulz | /*
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2 | f150aab5 | Robert Haschke | * This file is part of hlrc_server
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3 | *
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4 | * Copyright(c) sschulz <AT> techfak.uni-bielefeld.de
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5 | * http://opensource.cit-ec.de/projects/hlrc_server
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6 | *
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7 | * This file may be licensed under the terms of the
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8 | * GNU General Public License Version 3 (the ``GPL''),
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9 | * or (at your option) any later version.
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10 | *
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11 | * Software distributed under the License is distributed
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12 | * on an ``AS IS'' basis, WITHOUT WARRANTY OF ANY KIND, either
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13 | * express or implied. See the GPL for the specific language
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14 | * governing rights and limitations.
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15 | *
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16 | * You should have received a copy of the GPL along with this
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17 | * program. If not, go to http://www.gnu.org/licenses/gpl.html
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18 | * or write to the Free Software Foundation, Inc.,
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19 | * 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
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20 | *
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21 | * The development of this software was supported by the
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22 | * Excellence Cluster EXC 277 Cognitive Interaction Technology.
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23 | * The Excellence Cluster EXC 277 is a grant of the Deutsche
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24 | * Forschungsgemeinschaft (DFG) in the context of the German
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25 | * Excellence Initiative.
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26 | *
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27 | */
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28 | 0c286af0 | Simon Schulz | |
29 | #pragma once
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30 | #include "hlrc_server/gazetargetAction.h" |
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31 | #include "CallbackWrapperROS.h" |
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32 | |||
33 | f150aab5 | Robert Haschke | // callback handler incoming gaze requests:
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34 | class GazeCallbackWrapper : CallbackWrapper<hlrc_server::gazetargetAction> { |
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35 | 0c286af0 | Simon Schulz | protected:
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36 | f150aab5 | Robert Haschke | hlrc_server::gazetargetFeedback feedback; |
37 | hlrc_server::gazetargetResult result; |
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38 | 0c286af0 | Simon Schulz | |
39 | public:
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40 | f150aab5 | Robert Haschke | GazeCallbackWrapper(Middleware* mw, std::string scope, std::string name) |
41 | : CallbackWrapper<hlrc_server::gazetargetAction>(mw, scope, name, boost::bind(&GazeCallbackWrapper::call, this, _1)){ |
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42 | //
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43 | }; |
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44 | |||
45 | void call(const GoalConstPtr& goal) { |
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46 | feedback.result = 1;
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47 | |||
48 | hlrc_server::gazetargetGoalConstPtr request = goal; |
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49 | /*printf("> incoming gaze (p=%3.1f t=%3.1f r=%3.1f / v=%3.1f) [%s ts=%f]\n",
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50 | request->pan,
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51 | request->tilt,
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52 | request->roll,
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53 | request->vergence,
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54 | request->gaze_type==hlrc_server::gazetargetGoal::GAZETARGET_ABSOLUTE?"ABSOLUTE":"RELATIVE",
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55 | request->gaze_timestamp.toSec()
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56 | );*/
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57 | |||
58 | humotion::GazeState gaze_state; |
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59 | |||
60 | // fill in gaze
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61 | gaze_state.pan = request->pan; |
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62 | gaze_state.tilt = request->tilt; |
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63 | gaze_state.roll = request->roll; |
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64 | |||
65 | // use timestamp from request
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66 | gaze_state.timestamp.set(request->gaze_timestamp.sec, request->gaze_timestamp.nsec); |
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67 | |||
68 | if (request->gaze_type == hlrc_server::gazetargetGoal::GAZETARGET_ABSOLUTE) {
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69 | gaze_state.gaze_type = humotion::GazeState::GAZETYPE_ABSOLUTE; |
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70 | } |
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71 | else {
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72 | gaze_state.gaze_type = humotion::GazeState::GAZETYPE_RELATIVE; |
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73 | } |
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74 | |||
75 | // default:
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76 | gaze_state.vergence = request->vergence; |
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77 | gaze_state.pan_offset = request->pan_offset; |
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78 | gaze_state.tilt_offset = request->tilt_offset; |
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79 | |||
80 | // processing
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81 | feedback.result = 1;
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82 | as_.publishFeedback(feedback); |
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83 | |||
84 | // send to application:
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85 | mw->gaze_callback(gaze_state); |
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86 | |||
87 | if (feedback.result) {
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88 | result.result = feedback.result; |
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89 | as_.setSucceeded(result); |
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90 | } |
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91 | else {
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92 | as_.setAborted(result); |
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93 | } |
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94 | } |
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95 | 0c286af0 | Simon Schulz | }; |