PListSensorDriver.h

Go to the documentation of this file.

//-*-c++-*-
#ifndef INCLUDED_PListSensorDriver_h_
#define INCLUDED_PListSensorDriver_h_

#include "DataStreamDriver.h"

//! Accepts a stream of plist packets, each containing dictionaries for output, button, and sensor values (see DynamicRobotState)
class PListSensorDriver : public DataStreamDriver {
public:
  explicit PListSensorDriver(const std::string& name)
    : DeviceDriver(autoRegisterDriver,name), DataStreamDriver(autoRegisterDriver,name)
  {
    for(unsigned int i=0; i<NumOutputs; ++i)
      providing[i] = false;
  }
  
  virtual std::string getClassName() const { return autoRegisterDriver; }
  
  virtual void getSensorSources(std::map<std::string,DataSource*>& sources) {
    sources.clear();
    sources["Sensors"]=this;
  }
  
  virtual void deregisterSource();
  
protected:
  virtual bool readData(std::istream& is);
  
  bool providing[NumOutputs];  //!< outputs which are being provided by the input stream, so we can claim them and block local feedback
  
private:
  //! holds the class name, set via registration with the DeviceDriver registry
  static const std::string autoRegisterDriver;
  PListSensorDriver(const PListSensorDriver&); //!< don't call
  PListSensorDriver& operator=(const PListSensorDriver&); //!< don't call
};

/*! @file
 * @brief Describes PListSensorDriver, which accepts a stream of plist packets, each containing dictionaries for output, button, and sensor values
 * @author Ethan Tira-Thompson (ejt) (Creator)
 */

#endif