converters/diagnostics.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 DIAGNOSTICS_CONVERTER_HPP
#define DIAGNOSTICS_CONVERTER_HPP

/*
* LOCAL includes
*/
#include "converter_base.hpp"
#include <naoqi_driver/message_actions.h>

/*
* ROS includes
*/
#include <diagnostic_msgs/DiagnosticArray.h>

namespace naoqi
{
namespace converter
{

class DiagnosticsConverter : public BaseConverter<DiagnosticsConverter>
{

  typedef boost::function<void(diagnostic_msgs::DiagnosticArray&) > Callback_t;

public:
  DiagnosticsConverter(const std::string& name, float frequency, const qi::SessionPtr &session );

  void reset();

  void callAll( const std::vector<message_actions::MessageAction>& actions );

  void registerCallback( const message_actions::MessageAction action, Callback_t cb );

private:
  std::vector<std::string> joint_names_;
  std::vector<std::string> all_keys_;
  std::vector<std::string> battery_status_keys_;
  std::map<std::string, std::vector<double> > joint_limit_map_;
  qi::AnyObject p_memory_;
  qi::AnyObject p_motion_;
  qi::AnyObject p_body_temperature_;

  float temperature_warn_level_;
  float temperature_error_level_;

  std::map<message_actions::MessageAction, Callback_t> callbacks_;
};

} //converter
} // naoqi

#endif