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hlrc / server / include / ROS / EmotionCallbackWrapperROS.h @ ff49ed31

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/*
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 * This file is part of hlrc_server
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 *
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 * Copyright(c) sschulz <AT> techfak.uni-bielefeld.de
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 * http://opensource.cit-ec.de/projects/hlrc_server
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 *
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 * This file may be licensed under the terms of the
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 * GNU General Public License Version 3 (the ``GPL''),
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 * or (at your option) any later version.
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 *
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 * Software distributed under the License is distributed
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 * on an ``AS IS'' basis, WITHOUT WARRANTY OF ANY KIND, either
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 * express or implied. See the GPL for the specific language
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 * governing rights and limitations.
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 *
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 * You should have received a copy of the GPL along with this
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 * program. If not, go to http://www.gnu.org/licenses/gpl.html
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 * or write to the Free Software Foundation, Inc.,
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 * 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
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 *
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 * The development of this software was supported by the
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 * Excellence Cluster EXC 277 Cognitive Interaction Technology.
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 * The Excellence Cluster EXC 277 is a grant of the Deutsche
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 * Forschungsgemeinschaft (DFG) in the context of the German
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 * Excellence Initiative.
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 *
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 */
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#pragma once
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#include "hlrc_server/emotionstateAction.h"
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#include "CallbackWrapperROS.h"
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// callback handler incoming gaze requests:
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class EmotionCallbackWrapper : CallbackWrapper<hlrc_server::emotionstateAction> {
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protected:
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        hlrc_server::emotionstateFeedback feedback;
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        hlrc_server::emotionstateResult result;
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public:
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        EmotionCallbackWrapper(Middleware* mw, std::string scope, std::string name)
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           : CallbackWrapper<hlrc_server::emotionstateAction>(mw, scope, name,
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                                                              boost::bind(&EmotionCallbackWrapper::call, this, _1)){
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                   //
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           };
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        void call(const GoalConstPtr& goal) {
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                hlrc_server::emotionstateGoalConstPtr request = goal;
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                printf("> incoming emotion (%s = %d)\n", name.c_str(), (int)request->value);
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                feedback.result = 1;
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                EmotionState emotion_state;
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                // extract data & copy it to our datatype (might be good when we allow multiple middlewares in the feature)
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                switch ((int)request->value) {
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                        case (hlrc_server::emotionstateGoal::NEUTRAL):
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                                emotion_state.value = EmotionConfig::NEUTRAL;
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                                break;
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                        case (hlrc_server::emotionstateGoal::HAPPY):
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                                emotion_state.value = EmotionConfig::HAPPY;
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                                break;
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                        case (hlrc_server::emotionstateGoal::SAD):
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                                emotion_state.value = EmotionConfig::SAD;
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                                break;
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                        case (hlrc_server::emotionstateGoal::ANGRY):
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                                emotion_state.value = EmotionConfig::ANGRY;
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                                break;
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                        case (hlrc_server::emotionstateGoal::SURPRISED):
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                                emotion_state.value = EmotionConfig::SURPRISED;
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                                break;
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                        case (hlrc_server::emotionstateGoal::FEAR):
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                                emotion_state.value = EmotionConfig::FEAR;
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                                break;
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                        default:
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                                printf("> invalid EmotionState value. exiting\n");
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                                feedback.result = 0;
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                                return;
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                }
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                emotion_state.duration = request->duration;
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                // send to application
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                if (name == "defaultEmotion") {
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                        // set default emotion:
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                        mw->default_emotion_callback(emotion_state);
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                }
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                else if (name == "currentEmotion") {
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                        // set current emotion:
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                        mw->current_emotion_callback(emotion_state);
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                }
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                else {
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                        printf("> invalid method called '%s'\n", name.c_str());
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                        return;
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                }
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                if (feedback.result) {
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                        result.result = 1;
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                        as_.setSucceeded(result);
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                }
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                else {
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                        as_.setAborted(result);
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                }
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        }
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};