player_driver.h
Go to the documentation of this file.00001 #ifndef _STAGE_PLAYER_DRIVER_H 00002 #define _STAGE_PLAYER_DRIVER_H 00003 00004 #include <unistd.h> 00005 #include <string.h> 00006 #include <netinet/in.h> 00007 #include <math.h> 00008 00009 #include "player.h" 00010 #include "player/device.h" 00011 #include "player/driver.h" 00012 #include "player/configfile.h" 00013 #include "player/drivertable.h" 00014 #include <player/drivertable.h> 00015 #include <player/driver.h> 00016 #include <player/error.h> 00017 #include "playercommon.h" 00018 00019 #include "stage_internal.h" 00020 #include "stg_time.h" 00021 00022 // foward declare; 00023 class Interface; 00024 00025 class StgDriver : public Driver 00026 { 00027 public: 00028 // Constructor; need that 00029 StgDriver(ConfigFile* cf, int section); 00030 00031 // Destructor 00032 ~StgDriver(void); 00033 00034 // Must implement the following methods. 00035 int Setup(); 00036 int Shutdown(); 00037 00038 int Subscribe(player_device_id_t id); 00039 int Unsubscribe(player_device_id_t id); 00040 00042 void Main(); 00043 00046 void Update(); 00047 00048 // override the Driver method to grab configs inside the server thread 00049 //int PutConfig(player_device_id_t id, void *client, 00050 // void* src, size_t len, 00051 // struct timeval* timestamp); 00052 00054 static stg_world_t* world; 00055 00057 Interface* LookupDevice( player_device_id_t id ); 00058 00059 stg_model_t* LocateModel( const char* basename, 00060 stg_model_type_t mod_type ); 00061 00062 protected: 00063 00065 GPtrArray* devices; 00066 }; 00067 00068 00069 #endif
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