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/mouthtargetAction.h"

#include "CallbackWrapperROS.h"

// callback handler incoming gaze requests:

class MouthCallbackWrapper : CallbackWrapper<hlrc_server::mouthtargetAction> {

protected:

        hlrc_server::mouthtargetFeedback feedback;

        hlrc_server::mouthtargetResult result;

public:

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

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

                   //

           };

        void call(const GoalConstPtr& goal) {

                feedback.result = 1;

                hlrc_server::mouthtargetGoalConstPtr request = goal;

                humotion::MouthState mouth_state;

                // fill in mouth

                mouth_state.opening_center = request->opening_center;

                mouth_state.opening_right = request->opening_right;

                mouth_state.position_left = request->position_left;

                mouth_state.position_center = request->position_center;

                mouth_state.position_right = request->position_right;

                // processing

                feedback.result = 1;

                as_.publishFeedback(feedback);

                // send to application:

                mw->mouth_callback(mouth_state);

                if (feedback.result) {

                        result.result = feedback.result;

                        as_.setSucceeded(result);

                }

                else {

                        as_.setAborted(result);

                }

        }

};