converters/log.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 CONVERTERS_LOG_HPP
#define CONVERTERS_LOG_HPP
 
#include <rosgraph_msgs/Log.h>
 
#include <naoqi_driver/message_actions.h>
#include "converter_base.hpp"
 
#include <qicore/logmanager.hpp>
#include <qicore/loglistener.hpp>
 
namespace naoqi
{
namespace converter
{
 
class LogConverter : public BaseConverter<LogConverter>
{
 
  typedef boost::function<void(rosgraph_msgs::Log&) > Callback_t;
 
public:
  LogConverter( 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:
  void set_qi_logger_level();
 
  qi::LogManagerPtr logger_;
  qi::LogLevel log_level_;
  qi::LogListenerPtr listener_;
 
  std::map<message_actions::MessageAction, Callback_t> callbacks_;
};
 
} //publisher
} //naoqi
 
#endif