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);

                boost::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);

                }

        }

};