converters/memory/float.cpp
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1 /*
2  * Copyright 2015 Aldebaran
3  *
4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
6  * You may obtain a copy of the License at
7  *
8  * http://www.apache.org/licenses/LICENSE-2.0
9  *
10  * Unless required by applicable law or agreed to in writing, software
11  * distributed under the License is distributed on an "AS IS" BASIS,
12  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13  * See the License for the specific language governing permissions and
14  * limitations under the License.
15  *
16 */
17 
18 /*
19 * LOCAL includes
20 */
21 #include "float.hpp"
22 
23 /*
24 * BOOST includes
25 */
26 #include <boost/foreach.hpp>
27 #define for_each BOOST_FOREACH
28 
29 namespace naoqi
30 {
31 namespace converter
32 {
33 
34 MemoryFloatConverter::MemoryFloatConverter( const std::string& name, const float& frequency, const qi::SessionPtr& session, const std::string& memory_key )
35  : BaseConverter( name, frequency, session ),
36  memory_key_(memory_key),
37  p_memory_( session->service("ALMemory") )
38 {}
39 
41 {
42  callbacks_[action] = cb;
43 }
44 
46 {
47  bool success = false;
48  try
49  {
50  float value = p_memory_.call<float>("getData", memory_key_);
51  msg_.header.stamp = ros::Time::now();
52  msg_.data = value;
53  success = true;
54  }
55  catch( const std::exception& e )
56  {
57  std::cerr << "Exception caught in MemoryFloatConverter " << e.what() << std::endl;
58  success = false;
59  }
60  return success;
61 }
62 
63 void MemoryFloatConverter::callAll( const std::vector<message_actions::MessageAction>& actions )
64 {
65  if (convert()) {
67  {
68  callbacks_[action]( msg_ );
69  }
70  }
71 }
72 
74 {}
75 
76 } // publisher
77 } //naoqi
void registerCallback(const message_actions::MessageAction action, Callback_t cb)
MemoryFloatConverter(const std::string &name, const float &frequency, const qi::SessionPtr &session, const std::string &memory_key)
std::map< message_actions::MessageAction, Callback_t > callbacks_
#define for_each
boost::function< void(naoqi_bridge_msgs::FloatStamped &)> Callback_t
action
static Time now()
void callAll(const std::vector< message_actions::MessageAction > &actions)


naoqi_driver
Author(s): Karsten Knese
autogenerated on Sat Feb 15 2020 03:24:26