GazeboDriver.hh

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 154 2007-11-26 19:14:04Z natepak $
00025  */
00026 
00027 #ifndef GAZEBODRIVER_HH
00028 #define GAZEBODRIVER_HH
00029 
00030 #include <unistd.h>
00031 #include <string.h>
00032 
00033 #include <libplayercore/playercore.h>
00034 
00035 #include "GazeboClient.hh"
00036 
00037 
00038 namespace gazebo
00039 {
00040 
00044 
00045 // Forward declarations
00046 class GazeboInterface;
00047 
00049 class GazeboDriver : public Driver
00050 {
00052   public: GazeboDriver(ConfigFile* cf, int section);
00053 
00055   public: virtual ~GazeboDriver();
00056 
00058   public: virtual int Setup();
00059 
00061   public: virtual int Shutdown();
00062 
00064   public: virtual int ProcessMessage(QueuePointer &respQueue, 
00065                                      player_msghdr * hdr, 
00066                                      void * data);
00067 
00069   public: virtual int Subscribe(player_devaddr_t addr);
00070 
00072   public: virtual int Unsubscribe(player_devaddr_t addr);
00073 
00075   private: virtual void Update();
00076 
00078   private: int LoadDevices(ConfigFile* cf, int section);
00079 
00081   private: GazeboInterface *LookupDevice(player_devaddr_t addr);
00082 
00084   protected: GazeboInterface **devices;
00085 
00087   protected: int deviceCount;
00088 
00090   protected: int deviceMaxCount;
00091 };
00092 
00094 
00095 
00096 }
00097 #endif
Last updated Aug 04 2007