toranger.h

/*
 *  Player - One Hell of a Robot Server
 *  Copyright (C) 2000  Brian Gerkey   &  Kasper Stoy
 *                      gerkey@usc.edu    kaspers@robotics.usc.edu
 *
 *  This program is free software; you can redistribute it and/or modify
 *  it under the terms of the GNU General Public License as published by
 *  the Free Software Foundation; either version 2 of the License, or
 *  (at your option) any later version.
 *
 *  This program is distributed in the hope that it will be useful,
 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 *  GNU General Public License for more details.
 *
 *  You should have received a copy of the GNU General Public License
 *  along with this program; if not, write to the Free Software
 *  Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301 USA
 *
 */

//
// Desc: Base class for ->ranger interface converter drivers.
// Author: Geoffrey Biggs
// Date: 06/05/2007
//

#include <libplayercore/playercore.h>

class ToRanger : public Driver
{
        public:
                ToRanger (ConfigFile* cf, int section);
                ~ToRanger (void);

                // Message processor - must be called first by child classes if overridden
                virtual int ProcessMessage (QueuePointer &resp_queue, player_msghdr *hdr, void *data);

                virtual int Setup (void);
                virtual int Shutdown (void);

        protected:
                // Ranger interface stuff - should be filled by ProcessMessage()
                player_ranger_geom_t deviceGeom;                        // Geometry of the device

                // Input device
                Device *inputDevice;                                            // Input device interface
                player_devaddr_t inputDeviceAddr;                       // Input device address
};