00001 /* 00002 * Copyright 2015 Aldebaran 00003 * 00004 * Licensed under the Apache License, Version 2.0 (the "License"); 00005 * you may not use this file except in compliance with the License. 00006 * You may obtain a copy of the License at 00007 * 00008 * http://www.apache.org/licenses/LICENSE-2.0 00009 * 00010 * Unless required by applicable law or agreed to in writing, software 00011 * distributed under the License is distributed on an "AS IS" BASIS, 00012 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 00013 * See the License for the specific language governing permissions and 00014 * limitations under the License. 00015 * 00016 */ 00017 00018 #ifndef CONVERTERS_LOG_HPP 00019 #define CONVERTERS_LOG_HPP 00020 00021 #include <rosgraph_msgs/Log.h> 00022 00023 #include <naoqi_driver/message_actions.h> 00024 #include "converter_base.hpp" 00025 00026 #include <qicore/logmanager.hpp> 00027 #include <qicore/loglistener.hpp> 00028 00029 namespace naoqi 00030 { 00031 namespace converter 00032 { 00033 00034 class LogConverter : public BaseConverter<LogConverter> 00035 { 00036 00037 typedef boost::function<void(rosgraph_msgs::Log&) > Callback_t; 00038 00039 public: 00040 LogConverter( const std::string& name, float frequency, const qi::SessionPtr& sessions ); 00041 00042 void reset( ); 00043 00044 void registerCallback( const message_actions::MessageAction action, Callback_t cb ); 00045 00046 void callAll( const std::vector<message_actions::MessageAction>& actions ); 00047 00048 private: 00050 void set_qi_logger_level(); 00051 00052 qi::LogManagerPtr logger_; 00054 qi::LogLevel log_level_; 00055 qi::LogListenerPtr listener_; 00056 00057 std::map<message_actions::MessageAction, Callback_t> callbacks_; 00058 }; 00059 00060 } //publisher 00061 } //naoqi 00062 00063 #endif