Robotics Service Bus

#pragma once

#include <rsb/Factory.h>

#include <rsc/threading/SynchronizedQueue.h>

#include <rsb/Listener.h>

#include <rsb/converter/Repository.h>

#include <rsb/QueuePushHandler.h>

#include <rsb/Informer.h>

#include <rst/generic/ListFloat.pb.h>

#include <rsb/converter/ProtocolBufferConverter.h>

#include <rst/converters/opencv/IplImageConverter.h> // Needed for IplImageDeleter

#include <ChessBase/ImageFixationConverter.h>

//#include <ChessBase/ChessConverter.h>

#include <iostream>

#include <cstdlib>

#include <math.h>

#include <boost/date_time/posix_time/posix_time.hpp> // for linux/windows sleep

#include <boost/thread/thread.hpp> // for linux/windows sleep

#include <boost/shared_ptr.hpp>

#include <windows.h> // for GetModuleFileNameA

#include <ctime> // clock

#include <time.h>

using namespace std;

class ResultPublisher

{

public:

        ResultPublisher(string outScopeOccupiedFields,

                 string outScopeFixatedField

        );

        ~ResultPublisher(void);

        int sendResultOccFields(vector<float> result);

        int sendResultFixatedField(float field);

        int setupRSB();

private:

        string outScopeFixatedField;

        string outScopeOccupiedFields;

        bool alreadySetupRSB;

        rsb::Informer<rst::generic::ListFloat>::Ptr occFieldsInformer;

        rsb::Informer<string>::Ptr fixatedFieldInformer;

};