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::robot::GazeTarget>{

    public:

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

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

            rst::robot::GazeTarget *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->pan();

            gaze_state.tilt  = gaze->tilt();

            gaze_state.roll  = gaze->roll();

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

            gaze_state.timestamp = 123.45; //FIXME!!

            gaze_state.type  = humotion::GazeState::ABSOLUTE;

            //vergence

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

            //offsets

            gaze_state.pan_offset  = (gaze->has_pan_offset())?gaze->pan_offset():0.0;

            gaze_state.tilt_offset = (gaze->has_tilt_offset())?gaze->tilt_offset():0.0;

            //send to application:

            mw->gaze_callback(gaze_state);

        }

};