text: // Copyright 2021 Kenji Brameld
  //
  // Licensed under the Apache License, Version 2.0 (the "License");
  // you may not use this file except in compliance with the License.
  // You may obtain a copy of the License at
  //
  //     http://www.apache.org/licenses/LICENSE-2.0
  //
  // Unless required by applicable law or agreed to in writing, software
  // distributed under the License is distributed on an "AS IS" BASIS,
  // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
  // See the License for the specific language governing permissions and
  // limitations under the License.
  
  #ifndef NAO_LOLA__MSGPACK_PARSER_HPP_
  #define NAO_LOLA__MSGPACK_PARSER_HPP_
  
  #include <map>
  #include <string>
  #include <vector>
  #include "msgpack.hpp"
  #include "nao_sensor_msgs/msg/joint_currents.hpp"
  #include "nao_sensor_msgs/msg/joint_positions.hpp"
  #include "nao_sensor_msgs/msg/joint_stiffnesses.hpp"
  #include "nao_sensor_msgs/msg/joint_temperatures.hpp"
  #include "nao_sensor_msgs/msg/joint_statuses.hpp"
  #include "nao_sensor_msgs/msg/buttons.hpp"
  #include "nao_sensor_msgs/msg/accelerometer.hpp"
  #include "nao_sensor_msgs/msg/gyroscope.hpp"
  #include "nao_sensor_msgs/msg/angle.hpp"
  #include "nao_sensor_msgs/msg/sonar.hpp"
  #include "nao_sensor_msgs/msg/fsr.hpp"
  #include "nao_sensor_msgs/msg/touch.hpp"
  #include "nao_sensor_msgs/msg/battery.hpp"
  #include "nao_sensor_msgs/msg/robot_config.hpp"
  
  class MsgpackParser
  {
  public:
    explicit MsgpackParser(char data[], int size);
  
    nao_sensor_msgs::msg::Accelerometer getAccelerometer();
    nao_sensor_msgs::msg::Angle getAngle();
    nao_sensor_msgs::msg::Buttons getButtons();
    nao_sensor_msgs::msg::FSR getFSR();
    nao_sensor_msgs::msg::Gyroscope getGyroscope();
    nao_sensor_msgs::msg::JointCurrents getJointCurrents();
    nao_sensor_msgs::msg::JointPositions getJointPositions();
    nao_sensor_msgs::msg::JointStiffnesses getJointStiffnesses();
    nao_sensor_msgs::msg::JointTemperatures getJointTemperatures();
    nao_sensor_msgs::msg::JointStatuses getJointStatuses();
    nao_sensor_msgs::msg::Sonar getSonar();
    nao_sensor_msgs::msg::Touch getTouch();
    nao_sensor_msgs::msg::Battery getBattery();
    nao_sensor_msgs::msg::RobotConfig getRobotConfig();
  
  private:
    msgpack::object_handle oh;  // Keep this variable throughout the lifetime of this object
    std::map<std::string, msgpack::object> unpacked;
  };
  
  
  #endif  // NAO_LOLA__MSGPACK_PARSER_HPP_
  