driver_helpers.hpp

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/*
 * Copyright 2015 Aldebaran
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/


#ifndef DRIVER_HELPERS_HPP
#define DRIVER_HELPERS_HPP

#include <naoqi_driver/tools.hpp>

#include <naoqi_bridge_msgs/RobotInfo.h>

#include <naoqi_bridge_msgs/SetString.h>

#include <qi/applicationsession.hpp>

namespace naoqi
{
namespace helpers
{
namespace driver
{

const robot::Robot& getRobot( const qi::SessionPtr& session );

const robot::NaoqiVersion& getNaoqiVersion( const qi::SessionPtr& session );

const naoqi_bridge_msgs::RobotInfo& getRobotInfo( const qi::SessionPtr& session );

bool& setLanguage( const qi::SessionPtr& session, naoqi_bridge_msgs::SetStringRequest req );

std::string& getLanguage( const qi::SessionPtr& session );

bool isDepthStereo(const qi::SessionPtr &session);

bool isNaoqiVersionLesser(
  const robot::NaoqiVersion& naoqi_version,
  const int& major,
  const int& minor=0,
  const int& patch=0,
  const int& build=0);

} // driver
} // helpers
} // naoqi

#endif