converter_base.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 BASE_CONVERTER_HPP
#define BASE_CONVERTER_HPP
 
/*
* LOCAL includes
*/
#include <naoqi_driver/tools.hpp>
#include "../helpers/driver_helpers.hpp"
 
/*
* ALDEBARAN includes
*/
#include <qi/session.hpp>
#include <qi/anyobject.hpp>
 
namespace naoqi
{
namespace converter
{
 
// CRTP
template<class T>
class BaseConverter
{
 
public:
  BaseConverter( const std::string& name, float frequency, qi::SessionPtr session ):
    name_( name ),
    frequency_( frequency ),
    robot_( helpers::driver::getRobot(session) ),
    naoqi_version_( helpers::driver::getNaoqiVersion(session) ),
    session_(session),
    record_enabled_(false)
  {}
 
  virtual ~BaseConverter() {}
 
  inline std::string name() const
  {
    return name_;
  }
 
  inline float frequency() const
  {
    return frequency_;
  }
 
protected:
  std::string name_;
 
  float frequency_;
  const robot::Robot& robot_;
  /* The version of the Naoqi Software on the robot */
  const robot::NaoqiVersion& naoqi_version_;
 
  qi::SessionPtr session_;
 
  bool record_enabled_;
}; // class
 
} // converter
} // naoqi
 
#endif