GrabberResponder.hpp

// -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-
 
#ifndef __GRABBER_RESPONDER_HPP__
#define __GRABBER_RESPONDER_HPP__
 
#include <yarp/os/Bottle.h>
#include <yarp/os/PortReaderBuffer.h>
 
#include "ICartesianControl.h"
 
namespace roboticslab
{
 
class GrabberResponder : public yarp::os::TypedReaderCallback<yarp::os::Bottle>
{
public:
    GrabberResponder() : iCartesianControl(nullptr),
                         isStopped(true),
                         noApproach(false)
    {}
 
    void onRead(yarp::os::Bottle &b) override;
 
    void setICartesianControlDriver(roboticslab::ICartesianControl *iCartesianControl)
    {
        this->iCartesianControl = iCartesianControl;
    }
 
    void setNoApproachSetting(bool noApproach)
    {
        this->noApproach = noApproach;
    }
 
private:
    roboticslab::ICartesianControl *iCartesianControl;
 
    bool isStopped, noApproach;
};
 
} // namespace roboticslab
 
#endif // __GRABBER_RESPONDER_HPP__