GazeboInterface.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: Generic Gazebo Device Inteface for Player 00022 * Author: Nate Koenig 00023 * Date: 2 March 2006 00024 * CVS: $Id: GazeboInterface.hh 123 2007-09-19 20:36:14Z natepak $ 00025 */ 00026 00027 #ifndef GAZEBOINTERFACE_HH 00028 #define GAZEBOINTERFACE_HH 00029 00030 #include <libplayercore/playercore.h> 00031 00032 namespace gazebo 00033 { 00034 00038 00039 // Forward declarations 00040 class GazeboDriver; 00041 00043 class GazeboInterface 00044 { 00046 public: GazeboInterface(player_devaddr_t addr, GazeboDriver *driver, 00047 ConfigFile *cf, int section); 00048 00050 public: virtual ~GazeboInterface(); 00051 00053 public: virtual int ProcessMessage(QueuePointer &respQueue, 00054 player_msghdr_t *hdr, void *data) = 0; 00055 00057 public: virtual void Update() = 0; 00058 00061 public: virtual void Subscribe() = 0; 00062 00065 public: virtual void Unsubscribe() = 0; 00066 00068 public: player_devaddr_t device_addr; 00069 00071 public: GazeboDriver *driver; 00072 }; 00073 00075 00076 00077 } 00078 #endif