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