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);

                }

        }

};