GazeboDriver.hh
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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
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
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
00078 protected: GazeboInterface **devices;
00079 protected: int deviceCount;
00080 protected: int deviceMaxCount;
00081 };
00082
00083 #endif
Last updated 12 September 2005 21:38:45
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