diagnostics.hpp
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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 DIAGNOSTICS_CONVERTER_HPP
00019 #define DIAGNOSTICS_CONVERTER_HPP
00020 
00021 /*
00022 * LOCAL includes
00023 */
00024 #include "converter_base.hpp"
00025 #include <naoqi_driver/message_actions.h>
00026 
00027 /*
00028 * ROS includes
00029 */
00030 #include <diagnostic_msgs/DiagnosticArray.h>
00031 
00032 namespace naoqi
00033 {
00034 namespace converter
00035 {
00036 
00042 class DiagnosticsConverter : public BaseConverter<DiagnosticsConverter>
00043 {
00044 
00045   typedef boost::function<void(diagnostic_msgs::DiagnosticArray&) > Callback_t;
00046 
00047 public:
00048   DiagnosticsConverter(const std::string& name, float frequency, const qi::SessionPtr &session );
00049 
00050   void reset();
00051 
00052   void callAll( const std::vector<message_actions::MessageAction>& actions );
00053 
00054   void registerCallback( const message_actions::MessageAction action, Callback_t cb );
00055 
00056 private:
00058   std::vector<std::string> joint_names_;
00060   std::vector<std::string> all_keys_;
00062   std::vector<std::string> battery_status_keys_;
00063 
00065   qi::AnyObject p_memory_;
00067   qi::AnyObject p_body_temperature_;
00068 
00069   float temperature_warn_level_;
00070   float temperature_error_level_;
00071 
00073   std::map<message_actions::MessageAction, Callback_t> callbacks_;
00074 };
00075 
00076 } //converter
00077 } // naoqi
00078 
00079 #endif


naoqi_driver
Author(s): Karsten Knese
autogenerated on Sun Sep 17 2017 02:57:14