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 #include "robot_config.hpp" 00019 #include "../helpers/driver_helpers.hpp" 00020 00021 namespace naoqi 00022 { 00023 namespace service 00024 { 00025 00026 RobotConfigService::RobotConfigService( const std::string& name, const std::string& topic, const qi::SessionPtr& session ) 00027 : name_(name), 00028 topic_(topic), 00029 session_(session) 00030 {} 00031 00032 void RobotConfigService::reset( ros::NodeHandle& nh ) 00033 { 00034 service_ = nh.advertiseService(topic_, &RobotConfigService::callback, this); 00035 } 00036 00037 bool RobotConfigService::callback( naoqi_bridge_msgs::GetRobotInfoRequest& req, naoqi_bridge_msgs::GetRobotInfoResponse& resp ) 00038 { 00039 resp.info = helpers::driver::getRobotInfo(session_); 00040 return true; 00041 } 00042 00043 00044 } 00045 }