hlrc / server / include / ROS / AnimationCallbackWrapperROS.h @ eb9b1b16
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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/animationAction.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 AnimationCallbackWrapper : CallbackWrapper<hlrc_server::animationAction>{ |
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35 | protected:
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36 | hlrc_server::animationFeedback feedback; |
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37 | hlrc_server::animationResult result; |
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38 | |||
39 | public:
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40 | AnimationCallbackWrapper(Middleware *mw, std::string scope, std::string name) : CallbackWrapper<hlrc_server::animationAction>(mw, scope, name, boost::bind(&AnimationCallbackWrapper::call, this, _1)){ |
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41 | //
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42 | }; |
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43 | |||
44 | void call(const GoalConstPtr &goal){ |
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45 | hlrc_server::animationGoalConstPtr request = goal; |
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46 | printf("> incoming animation (%d)\n", (int)request->target); |
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47 | |||
48 | boost::shared_ptr<Animation> ani(new Animation()); |
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49 | |||
50 | //everything is ok, will be cleared on failures
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51 | feedback.result = 1;
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52 | |||
53 | switch ((int) request->target){ |
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54 | case(hlrc_server::animationGoal::IDLE): ani->target = Animation::IDLE; break; |
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55 | case(hlrc_server::animationGoal::HEAD_NOD): ani->target = Animation::HEAD_NOD; break; |
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56 | case(hlrc_server::animationGoal::HEAD_SHAKE): ani->target = Animation::HEAD_SHAKE; break; |
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57 | case(hlrc_server::animationGoal::EYEBLINK_L): ani->target = Animation::EYEBLINK_L; break; |
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58 | case(hlrc_server::animationGoal::EYEBLINK_R): ani->target = Animation::EYEBLINK_R; break; |
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59 | case(hlrc_server::animationGoal::EYEBLINK_BOTH): ani->target = Animation::EYEBLINK_BOTH; break; |
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60 | case(hlrc_server::animationGoal::EYEBROWS_RAISE):ani->target = Animation::EYEBROWS_RAISE;break; |
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61 | case(hlrc_server::animationGoal::EYEBROWS_LOWER):ani->target = Animation::EYEBROWS_LOWER;break; |
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62 | default:
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63 | ani->target = Animation::IDLE; |
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64 | printf("> unhandled animatin target %d\n",(int)request->target); |
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65 | //throw std::runtime_error("AnimationCallback: invalid animation id");
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66 | feedback.result = 0;
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67 | } |
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68 | |||
69 | ani->repetitions = request->repetitions; |
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70 | ani->duration_each = request->duration_each; |
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71 | ani->scale = request->scale; |
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72 | |||
73 | printf("> new Animation: %s\n", ani->as_string().c_str());
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74 | |||
75 | //send to application
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76 | mw->animation_callback(ani); |
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77 | |||
78 | if (feedback.result){
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79 | result.result = 1;
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80 | as_.setSucceeded(result); |
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81 | }else{
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82 | as_.setAborted(result); |
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83 | } |
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84 | |||
85 | } |
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86 | }; |
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87 |