converters/sonar.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 SONAR_CONVERTER_HPP
#define SONAR_CONVERTER_HPP
 
/*
* LOCAL includes
*/
#include "converter_base.hpp"
#include <naoqi_driver/message_actions.h>
 
/*
* ROS includes
*/
#include <sensor_msgs/Range.h>
 
namespace naoqi
{
namespace converter
{
 
class SonarConverter : public BaseConverter<SonarConverter>
{
 
  typedef boost::function<void(std::vector<sensor_msgs::Range>&)> Callback_t;
 
 
public:
  SonarConverter( const std::string& name, const float& frequency, const qi::SessionPtr& session );
 
  ~SonarConverter();
 
  void reset( );
 
  void registerCallback( message_actions::MessageAction action, Callback_t cb );
 
  void callAll( const std::vector<message_actions::MessageAction>& actions );
 
 
private:
  std::map<message_actions::MessageAction, Callback_t> callbacks_;
 
  qi::AnyObject p_sonar_;
  qi::AnyObject p_memory_;
  bool is_subscribed_;
 
  std::vector<std::string> keys_;
  std::vector<std::string> frames_;
  std::vector<sensor_msgs::Range> msgs_;
};
 
} //publisher
} //naoqi
 
#endif