#ifndef ARSERVERSENSORINFO_H
#define ARSERVERSENSORINFO_H
#include "Aria.h"
#include "ArServerBase.h"
class ArServerClient;
/** Service providing clients with data from range sensors.
* This service accepts the following data requests:
*
* getSensorList to get a list of all robot sensorsgetSensorCurrent to get one range sensor's set of current readingsgetSensorCumulative to get one range sensor's set of cumualtive readings
*
* The getSensorList request replies with the following data packet:
*
* - Number of sensors (2-byte integer)
*
- For each sensor:
*
- sensor name (Null-terminated string)
*
*
*
* The getSensorCurrent and getSensorCumulative
* requests must include the following data:
*
* - Sensor name (Null-terminated string)
*
*
* The getSensorCurrent and getSensorCumulative
* requests reply with the following data packets:
*
* - Number of readings, or -1 for invalid sensor name error (2-byte integer)
* - Sensor name (null-terminated string)
* - For each reading:
*
* - X coordinate of reading (4-byte integer)
* - Y coordinate of reading (4-byte integer)
*
*
*
*
* This service's requests are all in the SensorInfo group.
*/
class ArServerInfoSensor
{
public:
AREXPORT ArServerInfoSensor(ArServerBase *server, ArRobot *robot);
AREXPORT virtual ~ArServerInfoSensor();
AREXPORT void getSensorList(ArServerClient *client, ArNetPacket *packet);
AREXPORT void getSensorCurrent(ArServerClient *client, ArNetPacket *packet);
AREXPORT void getSensorCumulative(ArServerClient *client,
ArNetPacket *packet);
protected:
ArRobot *myRobot;
ArServerBase *myServer;
ArFunctor2C myGetSensorListCB;
ArFunctor2C myGetSensorCurrentCB;
ArFunctor2C myGetSensorCumulativeCB;
};
#endif