PowerInterface.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: Power Interface for Player 00022 * Author: Nate Koenig 00023 * Date: 2 March 2006 00024 * SVN: $Id: PowerInterface.hh 156 2007-11-26 20:26:57Z natepak $ 00025 */ 00026 00027 #ifndef POWERINTERFACE_HH 00028 #define POWERINTERFACE_HH 00029 00030 #include "GazeboInterface.hh" 00031 00032 // Forward declarations 00033 typedef struct gz_power gz_power_t; 00034 00035 00037 class PowerInterface : public GazeboInterface 00038 { 00040 public: PowerInterface(player_devaddr_t addr, GazeboDriver *driver, 00041 ConfigFile *cf, int section); 00042 00044 public: virtual ~PowerInterface(); 00045 00047 public: virtual int ProcessMessage(QueuePointer &respQueue, 00048 player_msghdr_t *hdr, void *data); 00049 00051 public: virtual void Update(); 00052 00055 public: virtual void Subscribe(); 00056 00059 public: virtual void Unsubscribe(); 00060 00061 private: gz_power_t *iface; 00062 00064 private: char *gz_id; 00065 00067 private: double datatime; 00068 }; 00069 #endif