GazeboDriver.hh

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00001 /*
00002  *  Gazebo - Outdoor Multi-Robot Simulator
00003  *  Copyright (C) 2003  
00004  *     Nate Koenig & Andrew Howard
00005  *
00006  *  This program is free software; you can redistribute it and/or modify
00007  *  it under the terms of the GNU General Public License as published by
00008  *  the Free Software Foundation; either version 2 of the License, or
00009  *  (at your option) any later version.
00010  *
00011  *  This program is distributed in the hope that it will be useful,
00012  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
00013  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00014  *  GNU General Public License for more details.
00015  *
00016  *  You should have received a copy of the GNU General Public License
00017  *  along with this program; if not, write to the Free Software
00018  *  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
00019  *
00020  */
00021 /* Desc: Gazebo Driver for Player
00022  * Author: Nate Koenig
00023  * Date: 2 March 2006
00024  * CVS: $Id: GazeboDriver.hh,v 1.2 2006/03/02 22:24:46 natepak Exp $
00025  */
00026 
00027 #ifndef GAZEBODRIVER_HH
00028 #define GAZEBODRIVER_HH
00029 
00030 #if HAVE_CONFIG_H
00031   #include <config.h>
00032 #endif
00033 
00034 #include <unistd.h>
00035 #include <string.h>
00036 
00037 #include <libplayercore/playercore.h>
00038 
00039 #include "GazeboClient.hh"
00040 
00041 // Forward declarations
00042 class GazeboInterface;
00043 
00044 class GazeboDriver : public Driver
00045 {
00047   public: GazeboDriver(ConfigFile* cf, int section);
00049   public: virtual ~GazeboDriver();
00050 
00052   public: virtual int Setup();
00053 
00055   public: virtual int Shutdown();
00056 
00058   public: virtual int ProcessMessage(MessageQueue * respQueue, 
00059                                      player_msghdr * hdr, 
00060                                      void * data);
00061 
00063   public: virtual int Subscribe(player_devaddr_t addr);
00064 
00066   public: virtual int Unsubscribe(player_devaddr_t addr);
00067 
00068   // @brief The server thread calls this method frequently. We use it to check  for new commands and configs
00069   private: virtual void Update();
00070 
00072   private: int LoadDevices(ConfigFile* cf, int section);
00073 
00075   private: GazeboInterface *LookupDevice(player_devaddr_t addr);
00076 
00077   // Array of interfaces associated with this driver
00078   protected: GazeboInterface **devices;
00079   protected: int deviceCount;
00080   protected: int deviceMaxCount;
00081 };
00082 
00083 #endif
Last updated 12 September 2005 21:38:45