Program Listing for File sensing_subsystem.hpp

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#pragma once

/*******************************************************************************
 * Includes
 ******************************************************************************/
#include <utility>

#include "cosm/hal/subsystem/base_sensing_subsystem.hpp"

#include "cosm/hal/argos/subsystem/robot_available_sensors.hpp"

/*******************************************************************************
 * Namespaces
 ******************************************************************************/
namespace cosm::hal::argos::subsystem {

/*******************************************************************************
 * Class Definitions
 ******************************************************************************/
class sensing_subsystem :
    public chsubsystem::base_sensing_subsystem<COSM_HAL_ROBOT_AVAILABLE_SENSORS> {
 public:
  explicit sensing_subsystem(sensor_map&& sensors)
      : base_sensing_subsystem(std::move(sensors)) {}

#if defined(COSM_HAL_TARGET_HAS_BLOB_CAMERA_SENSOR)
  COSM_HAL_SENSOR_ACCESSOR(chargos::sensors::colored_blob_camera_sensor, blobs);
  COSM_HAL_SENSOR_ACCESSOR(chargos::sensors::colored_blob_camera_sensor, blobs, const);
#endif

  COSM_HAL_SENSOR_ACCESSOR(chargos::sensors::light_sensor, light);
  COSM_HAL_SENSOR_ACCESSOR(chargos::sensors::light_sensor, light, const);

  COSM_HAL_SENSOR_ACCESSOR(chsensors::proximity_sensor, proximity);
  COSM_HAL_SENSOR_ACCESSOR(chsensors::proximity_sensor, proximity, const);

  COSM_HAL_SENSOR_ACCESSOR(chsensors::env_sensor, env);
  COSM_HAL_SENSOR_ACCESSOR(chsensors::env_sensor, env, const);

  COSM_HAL_SENSOR_ACCESSOR(chsensors::battery_sensor, battery);
  COSM_HAL_SENSOR_ACCESSOR(chsensors::battery_sensor, battery, const);

#if defined(COSM_HAL_TARGET_HAS_ODOM_SENSOR)
  COSM_HAL_SENSOR_ACCESSOR(chsensors::odometry_sensor, odometry);
  COSM_HAL_SENSOR_ACCESSOR(chsensors::odometry_sensor, odometry, const);
#endif
};

} /* namespace cosm::hal::argos::subsystem */