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 GazeCallbackWrapper : public CallbackWrapper<rst::animation::BinocularHeadGaze> {

public:

        GazeCallbackWrapper(Middleware* mw) : CallbackWrapper(mw) {

        }

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

                rst::animation::BinocularHeadGaze* gaze = input.get();

                // printf("> incoming gaze (p=%3.1f t=%3.1f r=%3.1f / v=%3.1f)\n", gaze->pan(), gaze->tilt(), gaze->roll(), gaze->vergence());

                humotion::GazeState gaze_state;

                // fill in gaze

                gaze_state.pan = gaze->target().azimuth();

                gaze_state.tilt = gaze->target().elevation();

                gaze_state.roll = 0.0;

                // RSB supports only absolute targets for now...

                gaze_state.timestamp = 123.45; // FIXME!!

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

                // vergence

                gaze_state.vergence = (gaze->has_eye_vergence()) ? gaze->eye_vergence() : 0.0;

                // offsets

                gaze_state.pan_offset = (gaze->has_offset()) ? gaze->offset().azimuth() : 0.0;

                gaze_state.tilt_offset = (gaze->has_offset()) ? gaze->offset().elevation() : 0.0;

                // send to application:

                mw->gaze_callback(gaze_state);

        }

};