info.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 INFO_CONVERTER_HPP
00019 #define INFO_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 <naoqi_bridge_msgs/StringStamped.h>
00031 
00032 
00033 namespace naoqi
00034 {
00035 namespace converter
00036 {
00037 
00038 class InfoConverter : public BaseConverter<InfoConverter>
00039 {
00040 
00041   typedef boost::function<void(naoqi_bridge_msgs::StringStamped)> Callback_t;
00042 
00043 public:
00044   InfoConverter( const std::string& name, float frequency, const qi::SessionPtr& sessions );
00045 
00046   void reset();
00047 
00048   void registerCallback( const message_actions::MessageAction action, Callback_t cb );
00049 
00050   void callAll( const std::vector<message_actions::MessageAction>& actions );
00051 
00052 private:
00054   qi::AnyObject p_memory_;
00055 
00057   std::vector<std::string> keys_;
00058   std::map<message_actions::MessageAction, Callback_t> callbacks_;
00059 
00060   naoqi_bridge_msgs::StringStamped msg_;
00061 };
00062 
00063 } //converter
00064 } //naoqi
00065 
00066 #endif


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