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/emotionstateAction.h"

#include "CallbackWrapperROS.h"

//callback handler incoming gaze requests:

class EmotionCallbackWrapper : CallbackWrapper<hlrc_server::emotionstateAction>{

protected:

    hlrc_server::emotionstateFeedback feedback;

    hlrc_server::emotionstateResult result;

public:

    EmotionCallbackWrapper(Middleware *mw, std::string scope, std::string name) : CallbackWrapper<hlrc_server::emotionstateAction>(mw, scope, name, boost::bind(&EmotionCallbackWrapper::call, this, _1)){

        //

    };

    void call(const GoalConstPtr &goal){

        hlrc_server::emotionstateGoalConstPtr request = goal;

        printf("> incoming emotion (%s = %d)\n", name.c_str(), (int)request->value);

        feedback.result = 1;

        EmotionState emotion_state;

        //extract data & copy it to our datatype (might be good when we allow multiple middlewares in the feature)

        switch ((int)request->value){

            case(hlrc_server::emotionstateGoal::NEUTRAL):   emotion_state.value = EmotionConfig::NEUTRAL; break;

            case(hlrc_server::emotionstateGoal::HAPPY):     emotion_state.value = EmotionConfig::HAPPY; break;

            case(hlrc_server::emotionstateGoal::SAD):       emotion_state.value = EmotionConfig::SAD; break;

            case(hlrc_server::emotionstateGoal::ANGRY):     emotion_state.value = EmotionConfig::ANGRY; break;

            case(hlrc_server::emotionstateGoal::SURPRISED): emotion_state.value = EmotionConfig::SURPRISED; break;

            case(hlrc_server::emotionstateGoal::FEAR):      emotion_state.value = EmotionConfig::FEAR; break;

            default:

                printf("> invalid EmotionState value. exiting\n");

                feedback.result = 0;

                return;

        }

        emotion_state.duration = request->duration;

        //send to application

        if (name == "defaultEmotion"){

            //set default emotion:

            mw->default_emotion_callback(emotion_state);

        }else if (name == "currentEmotion"){

            //set current emotion:

            mw->current_emotion_callback(emotion_state);

        }else{

            printf("> invalid method called '%s'\n",name.c_str());

            return;

        }

        if (feedback.result){

            result.result = 1;

            as_.setSucceeded(result);

        }else{

            as_.setAborted(result);

        }

    }

};