converters/info.hpp

Go to the documentation of this file.

/*
 * 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 INFO_CONVERTER_HPP
#define INFO_CONVERTER_HPP
 
/*
* LOCAL includes
*/
#include "converter_base.hpp"
#include <naoqi_driver/message_actions.h>
 
/*
* ROS includes
*/
#include <naoqi_bridge_msgs/StringStamped.h>
 
 
namespace naoqi
{
namespace converter
{
 
class InfoConverter : public BaseConverter<InfoConverter>
{
 
  typedef boost::function<void(naoqi_bridge_msgs::StringStamped)> Callback_t;
 
public:
  InfoConverter( const std::string& name, float frequency, const qi::SessionPtr& sessions );
 
  void reset();
 
  void registerCallback( const message_actions::MessageAction action, Callback_t cb );
 
  void callAll( const std::vector<message_actions::MessageAction>& actions );
 
private:
  qi::AnyObject p_memory_;
 
  std::vector<std::string> keys_;
  std::map<message_actions::MessageAction, Callback_t> callbacks_;
 
  naoqi_bridge_msgs::StringStamped msg_;
};
 
} //converter
} //naoqi
 
#endif