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/gazetargetAction.h"

#include "CallbackWrapperROS.h"

// callback handler incoming gaze requests:

class GazeCallbackWrapper : CallbackWrapper<hlrc_server::gazetargetAction> {

protected:

        hlrc_server::gazetargetFeedback feedback;

        hlrc_server::gazetargetResult result;

public:

        GazeCallbackWrapper(Middleware* mw, std::string scope, std::string name)

           : CallbackWrapper<hlrc_server::gazetargetAction>(mw, scope, name, boost::bind(&GazeCallbackWrapper::call, this, _1)){

                   //

           };

        void call(const GoalConstPtr& goal) {

                feedback.result = 1;

                hlrc_server::gazetargetGoalConstPtr request = goal;

                /*printf("> incoming gaze (p=%3.1f t=%3.1f r=%3.1f / v=%3.1f) [%s ts=%f]\n",

                       request->pan,

                       request->tilt,

                       request->roll,

                       request->vergence,

                       request->gaze_type==hlrc_server::gazetargetGoal::GAZETARGET_ABSOLUTE?"ABSOLUTE":"RELATIVE",

                       request->gaze_timestamp.toSec()

                );*/

                humotion::GazeState gaze_state;

                // fill in gaze

                gaze_state.pan = request->pan;

                gaze_state.tilt = request->tilt;

                gaze_state.roll = request->roll;

                // use timestamp from request

                gaze_state.timestamp.set(request->gaze_timestamp.sec, request->gaze_timestamp.nsec);

                if (request->gaze_type == hlrc_server::gazetargetGoal::GAZETARGET_ABSOLUTE) {

                        gaze_state.gaze_type = humotion::GazeState::GAZETYPE_ABSOLUTE;

                }

                else {

                        gaze_state.gaze_type = humotion::GazeState::GAZETYPE_RELATIVE;

                }

                // default:

                gaze_state.vergence = request->vergence;

                gaze_state.pan_offset = request->pan_offset;

                gaze_state.tilt_offset = request->tilt_offset;

                // processing

                feedback.result = 1;

                as_.publishFeedback(feedback);

                // send to application:

                mw->gaze_callback(gaze_state);

                if (feedback.result) {

                        result.result = feedback.result;

                        as_.setSucceeded(result);

                }

                else {

                        as_.setAborted(result);

                }

        }

};