converter_base.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 BASE_CONVERTER_HPP
#define BASE_CONVERTER_HPP

/*
* LOCAL includes
*/
#include <naoqi_driver/tools.hpp>
#include "../helpers/driver_helpers.hpp"

/*
* ALDEBARAN includes
*/
#include <qi/session.hpp>
#include <qi/anyobject.hpp>

namespace naoqi
{
namespace converter
{

// CRTP
template<class T>
class BaseConverter
{

public:
  BaseConverter( const std::string& name, float frequency, qi::SessionPtr session ):
    name_( name ),
    frequency_( frequency ),
    robot_( helpers::driver::getRobot(session) ),
    session_(session),
    record_enabled_(false)
  {}

  virtual ~BaseConverter() {}

  inline std::string name() const
  {
    return name_;
  }

  inline float frequency() const
  {
    return frequency_;
  }

  /*
  inline Robot robot() const
  {
    if (robot_ != UNIDENTIFIED)
      return robot_;

    qi::AnyObject p_memory = session_->service("ALMemory");
    std::string robot;
    try{
      robot = p_memory.call<qi::AnyValue>("getData", "RobotConfig/Body/Type" ).toString();
    }
    catch(std::runtime_error& e)
    {
      return UNIDENTIFIED;
    }

    std::transform(robot.begin(), robot.end(), robot.begin(), ::tolower);
    std::cout << "found robot variable " << robot << std::endl;
    if (std::string(robot) == "nao")
    {
      robot_ = NAO;
      return robot_;
    }
    else if (std::string(robot) == "pepper" || std::string(robot) == "juliette")
    {
      robot_ = PEPPER;
      return robot_;
    }
    else
    {
      robot_ = UNIDENTIFIED;
      return robot_;
    }
  }*/

protected:
  std::string name_;

  float frequency_;
  const robot::Robot& robot_;

  qi::SessionPtr session_;

  bool record_enabled_;
}; // class

} // converter
} // naoqi

#endif