player rwi_laserdevice.h Source File

00001 /*
00002  *  Player - One Hell of a Robot Server
00003  *  Copyright (C) 2002
00004  *     Brian Gerkey, Kasper Stoy, Richard Vaughan, & Andrew Howard
00005  *     Nik Melchior
00006  *
00007  *
00008  *  This program is free software; you can redistribute it and/or modify
00009  *  it under the terms of the GNU General Public License as published by
00010  *  the Free Software Foundation; either version 2 of the License, or
00011  *  (at your option) any later version.
00012  *
00013  *  This program is distributed in the hope that it will be useful,
00014  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
00015  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00016  *  GNU General Public License for more details.
00017  *
00018  *  You should have received a copy of the GNU General Public License
00019  *  along with this program; if not, write to the Free Software
00020  *  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
00021  *
00022  */
00023 
00024 #ifndef _RWI_LASERDEVICE_H
00025 #define _RWI_LASERDEVICE_H
00026 
00027 #include <rwidevice.h>
00028 #include <drivertable.h>
00029 
00030 class CRWILaserDevice: public CRWIDevice {
00031 
00032 public:
00033         CRWILaserDevice (char* interface, ConfigFile* cf, int section)
00034                 : CRWIDevice(interface, cf, section,
00035                              sizeof(player_laser_data_t),
00036                              0,  /* laser device takes no commands */
00037                              1,1)
00038                 {}
00039         
00040         virtual int Setup ();
00041         virtual int Shutdown ();
00042         
00043         virtual void Main ();
00044         
00045 private:
00046         #ifdef USE_MOBILITY
00047         MobilityGeometry::SegmentState_var  laser_state;
00048         #endif // USE_MOBILITY
00049 
00050 };
00051 
00052 #endif // _RWI_LASERDEVICE_H