hlrc / server / include / ROS / EmotionCallbackWrapperROS.h @ e832c8ef
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1 | 0c286af0 | Simon Schulz | /*
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2 | * This file is part of hlrc_server
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3 | *
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4 | * Copyright(c) sschulz <AT> techfak.uni-bielefeld.de
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5 | * http://opensource.cit-ec.de/projects/hlrc_server
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6 | *
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7 | * This file may be licensed under the terms of the
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8 | * GNU General Public License Version 3 (the ``GPL''),
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9 | * or (at your option) any later version.
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10 | *
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11 | * Software distributed under the License is distributed
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12 | * on an ``AS IS'' basis, WITHOUT WARRANTY OF ANY KIND, either
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13 | * express or implied. See the GPL for the specific language
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14 | * governing rights and limitations.
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15 | *
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16 | * You should have received a copy of the GPL along with this
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17 | * program. If not, go to http://www.gnu.org/licenses/gpl.html
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18 | * or write to the Free Software Foundation, Inc.,
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19 | * 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
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20 | *
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21 | * The development of this software was supported by the
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22 | * Excellence Cluster EXC 277 Cognitive Interaction Technology.
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23 | * The Excellence Cluster EXC 277 is a grant of the Deutsche
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24 | * Forschungsgemeinschaft (DFG) in the context of the German
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25 | * Excellence Initiative.
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26 | *
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27 | */
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28 | |||
29 | #pragma once
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30 | #include "hlrc_server/emotionstateAction.h" |
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31 | #include "CallbackWrapperROS.h" |
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32 | |||
33 | //callback handler incoming gaze requests:
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34 | class EmotionCallbackWrapper : CallbackWrapper<hlrc_server::emotionstateAction>{ |
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35 | protected:
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36 | hlrc_server::emotionstateFeedback feedback; |
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37 | hlrc_server::emotionstateResult result; |
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38 | |||
39 | |||
40 | public:
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41 | |||
42 | EmotionCallbackWrapper(Middleware *mw, std::string scope, std::string name) : CallbackWrapper<hlrc_server::emotionstateAction>(mw, scope, name, boost::bind(&EmotionCallbackWrapper::call, this, _1)){ |
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43 | //
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44 | }; |
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45 | |||
46 | void call(const GoalConstPtr &goal){ |
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47 | hlrc_server::emotionstateGoalConstPtr request = goal; |
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48 | printf("> incoming emotion (%s = %d)\n", name.c_str(), (int)request->value); |
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49 | feedback.result = 1;
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50 | |||
51 | EmotionState emotion_state; |
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52 | |||
53 | //extract data & copy it to our datatype (might be good when we allow multiple middlewares in the feature)
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54 | switch ((int)request->value){ |
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55 | case(hlrc_server::emotionstateGoal::NEUTRAL): emotion_state.value = EmotionConfig::NEUTRAL; break; |
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56 | case(hlrc_server::emotionstateGoal::HAPPY): emotion_state.value = EmotionConfig::HAPPY; break; |
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57 | case(hlrc_server::emotionstateGoal::SAD): emotion_state.value = EmotionConfig::SAD; break; |
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58 | case(hlrc_server::emotionstateGoal::ANGRY): emotion_state.value = EmotionConfig::ANGRY; break; |
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59 | case(hlrc_server::emotionstateGoal::SURPRISED): emotion_state.value = EmotionConfig::SURPRISED; break; |
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60 | case(hlrc_server::emotionstateGoal::FEAR): emotion_state.value = EmotionConfig::FEAR; break; |
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61 | default:
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62 | printf("> invalid EmotionState value. exiting\n");
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63 | feedback.result = 0;
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64 | return;
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65 | } |
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66 | |||
67 | emotion_state.duration = request->duration; |
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68 | |||
69 | //send to application
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70 | if (name == "defaultEmotion"){ |
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71 | //set default emotion:
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72 | mw->default_emotion_callback(emotion_state); |
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73 | }else if (name == "currentEmotion"){ |
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74 | //set current emotion:
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75 | mw->current_emotion_callback(emotion_state); |
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76 | }else{
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77 | printf("> invalid method called '%s'\n",name.c_str());
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78 | return;
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79 | } |
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80 | |||
81 | if (feedback.result){
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82 | result.result = 1;
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83 | as_.setSucceeded(result); |
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84 | }else{
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85 | as_.setAborted(result); |
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86 | } |
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87 | |||
88 | } |
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89 | }; |
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90 |