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#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:
* <ul>
* <li><code>getSensorList</code> to get a list of all robot sensors</li>
* <li><code>getSensorCurrent</code> to get one range sensor's set of current readings</li>
* <li><code>getSensorCumulative</code> to get one range sensor's set of cumualtive readings</li>
* </ul>
*
* The <code>getSensorList</code> request replies with the following data packet:
* <ol>
* <li>Number of sensors (2-byte integer)
* <li>For each sensor:
* <ol><li>sensor name (Null-terminated string)</li></ol>
* </li>
* </ol>
*
* The <code>getSensorCurrent</code> and <code>getSensorCumulative</code>
* requests must include the following data:
* <ol>
* <li>Sensor name (Null-terminated string)</li>
* </ol>
*
* The <code>getSensorCurrent</code> and <code>getSensorCumulative</code>
* requests reply with the following data packets:
* <ol>
* <li>Number of readings, or -1 for invalid sensor name error (2-byte integer)</li>
* <li>Sensor name (null-terminated string)</li>
* <li>For each reading:
* <ol>
* <li>X coordinate of reading (4-byte integer)</li>
* <li>Y coordinate of reading (4-byte integer)</li>
* </ol>
* </li>
* </ol>
*
* This service's requests are all in the <code>SensorInfo</code> 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<ArServerInfoSensor, ArServerClient *, ArNetPacket *> myGetSensorListCB;
ArFunctor2C<ArServerInfoSensor, ArServerClient *, ArNetPacket *> myGetSensorCurrentCB;
ArFunctor2C<ArServerInfoSensor, ArServerClient *, ArNetPacket *> myGetSensorCumulativeCB;
};
#endif
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