Stage

• Frontpage
• Release
• Contents

User

• Installation
• Help

  ---

• World
• WorldGUI
• Model
  • blobfinder
  • fiducial
  • laser
  • position
  • ranger

Player

libstageplugin

Developer

libstage

Online

Homepage
FAQ (Wiki)
Download
Project
Bugs
Help

p_driver.h

Go to the documentation of this file.

#ifndef _STAGE_PLAYER_DRIVER_H
#define _STAGE_PLAYER_DRIVER_H

#include <unistd.h>
#include <string.h>
#include <math.h>

#include <libplayercore/playercore.h>

#include "../libstage/stage_internal.hh"

#define DRIVER_ERROR(X) printf( "Stage driver error: %s\n", X )

// foward declare;
class Interface;
class StgTime;

class StgDriver : public Driver
{
 public:
  // Constructor; need that
  StgDriver(ConfigFile* cf, int section);
  
  // Destructor
  ~StgDriver(void);
  
  // Must implement the following methods.
  virtual int Setup();
  virtual int Shutdown();
  virtual int ProcessMessage(QueuePointer &resp_queue, 
                 player_msghdr * hdr, 
                 void * data);
  virtual int Subscribe(player_devaddr_t addr);
  virtual int Unsubscribe(player_devaddr_t addr);
    
  virtual void Update();
  
  static StgWorld* world;
  
  Interface* LookupDevice( player_devaddr_t addr );
  
  StgModel* LocateModel( char* basename, 
             player_devaddr_t* addr,
             char* typestr);
  
 protected: 
  
  GPtrArray* devices;  
};


class Interface
{
 public:
  Interface(player_devaddr_t addr,  
            StgDriver* driver,
            ConfigFile* cf, 
            int section );

  virtual ~Interface( void ){ /* TODO: clean up*/ };

  player_devaddr_t addr;
  double last_publish_time;
  double publish_interval_msec;
  
  StgDriver* driver; // the driver instance that created this device
  
  virtual int ProcessMessage(QueuePointer &resp_queue,
                     player_msghdr_t* hdr,
                 void* data) { return(-1); } // empty implementation

  virtual void Publish( void ){}; // do nothing
  virtual void Subscribe( void ){}; // do nothing
  virtual void Unsubscribe( void ){}; // do nothing
};


class InterfaceSimulation : public Interface
{
 public: 
  InterfaceSimulation( player_devaddr_t addr,  StgDriver* driver,ConfigFile* cf, int section );
  virtual ~InterfaceSimulation( void ){ /* TODO: clean up*/ };
  virtual int ProcessMessage(QueuePointer & resp_queue,
                             player_msghdr_t* hdr,
                             void* data);
};

// base class for all interfaces that are associated with a model
class InterfaceModel

 : public Interface
{
 public:
  InterfaceModel( player_devaddr_t addr,
          StgDriver* driver,
          ConfigFile* cf,
          int section,
          char* typestr );

  StgModel* mod;
  
  virtual ~InterfaceModel( void ){ /* TODO: clean up*/ };

  virtual void Subscribe( void ){ this->mod->Subscribe(); };
  virtual void Unsubscribe( void ){ this->mod->Unsubscribe(); };
};


class InterfacePosition : public InterfaceModel
{
 public: 
  InterfacePosition( player_devaddr_t addr, StgDriver* driver, ConfigFile* cf, int section );
  virtual ~InterfacePosition( void ){ /* TODO: clean up*/ };
  virtual void Publish( void );
  virtual int ProcessMessage(QueuePointer & resp_queue,
                             player_msghdr_t* hdr,
                             void* data);
};
 
class InterfaceGripper : public InterfaceModel
{
 public: 
  InterfaceGripper( player_devaddr_t addr, StgDriver* driver, ConfigFile* cf, int section );
  virtual ~InterfaceGripper( void ){ /* TODO: clean up*/ };
  virtual int ProcessMessage(QueuePointer & resp_queue,
                             player_msghdr_t* hdr,
                             void* data);
  virtual void Publish( void );
};

class InterfaceWifi : public InterfaceModel
{
 public: 
  InterfaceWifi( player_devaddr_t addr, StgDriver* driver, ConfigFile* cf, int section );
  virtual ~InterfaceWifi( void ){ /* TODO: clean up*/ };
  virtual int ProcessMessage(QueuePointer & resp_queue,
                             player_msghdr_t* hdr,
                             void* data);
  virtual void Publish( void );
};

class InterfaceSpeech : public InterfaceModel
{
 public: 
  InterfaceSpeech( player_devaddr_t addr, StgDriver* driver, ConfigFile* cf, int section );
  virtual ~InterfaceSpeech( void ){ /* TODO: clean up*/ };
  virtual int ProcessMessage(QueuePointer & resp_queue,
                             player_msghdr_t* hdr,
                             void* data);
  virtual void Publish( void );
};

class InterfaceLaser : public InterfaceModel
{
  private:
    int scan_id;
 public: 
  InterfaceLaser( player_devaddr_t addr, StgDriver* driver, ConfigFile* cf, int section );
  virtual ~InterfaceLaser( void ){ /* TODO: clean up*/ };
  virtual int ProcessMessage(QueuePointer & resp_queue,
                  player_msghdr_t* hdr,
                  void* data);
  virtual void Publish( void );
};

class InterfacePower : public InterfaceModel
{
 public: 
  InterfacePower( player_devaddr_t addr, StgDriver* driver, ConfigFile* cf, int section );
  virtual ~InterfacePower( void ){ /* TODO: clean up*/ };
  
  virtual int ProcessMessage( QueuePointer & resp_queue, 
                  player_msghdr * hdr, 
                  void * data );
  
  virtual void Publish( void );
};

class InterfaceFiducial : public InterfaceModel
{
 public: 
  InterfaceFiducial( player_devaddr_t addr, StgDriver* driver, ConfigFile* cf, int section );
  virtual ~InterfaceFiducial( void ){ /* TODO: clean up*/ };

  virtual void Publish( void );
  virtual int ProcessMessage(QueuePointer & resp_queue,
                             player_msghdr_t* hdr,
                             void* data);
};

 
class InterfaceBlobfinder : public InterfaceModel
{
 public: 
  InterfaceBlobfinder( player_devaddr_t addr, StgDriver* driver, ConfigFile* cf, int section );
  virtual ~InterfaceBlobfinder( void ){ /* TODO: clean up*/ };
  
  virtual int ProcessMessage( QueuePointer & resp_queue, 
                  player_msghdr * hdr, 
                  void * data );
  virtual void Publish( void );
};

class InterfacePtz : public InterfaceModel
{
 public: 
  InterfacePtz( player_devaddr_t addr, StgDriver* driver, ConfigFile* cf, int section );
  virtual ~InterfacePtz( void ){ /* TODO: clean up*/ };
  
  virtual int ProcessMessage( QueuePointer & resp_queue, 
                  player_msghdr * hdr, 
                  void * data );
  virtual void Publish( void );
};

class InterfaceSonar : public InterfaceModel
{
 public: 
  InterfaceSonar( player_devaddr_t addr, StgDriver* driver, ConfigFile* cf, int section );
  virtual ~InterfaceSonar( void ){ /* TODO: clean up*/ };
  
  virtual int ProcessMessage( QueuePointer & resp_queue, 
                  player_msghdr * hdr, 
                  void * data );
  virtual void Publish( void );
};
 

class InterfaceBumper : public InterfaceModel
{
 public: 
  InterfaceBumper( player_devaddr_t addr, StgDriver* driver, ConfigFile* cf, int section );
  virtual ~InterfaceBumper( void ){ /* TODO: clean up*/ };
  
  virtual int ProcessMessage( QueuePointer & resp_queue, 
                  player_msghdr * hdr, 
                  void * data );
  virtual void Publish( void );
};
 
class InterfaceLocalize : public InterfaceModel
{
 public: 
  InterfaceLocalize( player_devaddr_t addr, 
             StgDriver* driver, 
             ConfigFile* cf, 
             int section );

  virtual ~InterfaceLocalize( void ){ /* TODO: clean up*/ };

  virtual void Publish( void );
  virtual int ProcessMessage(QueuePointer & resp_queue,
                             player_msghdr_t* hdr,
                             void* data);
};

class InterfaceMap : public InterfaceModel
{
 public: 
  InterfaceMap( player_devaddr_t addr, StgDriver* driver, ConfigFile* cf, int section );
  virtual ~InterfaceMap( void ){ /* TODO: clean up*/ };
  
  virtual int ProcessMessage( QueuePointer & resp_queue, 
                  player_msghdr * hdr, 
                  void * data );
  //virtual void Publish( void );
  
  // called by ProcessMessage to handle individual messages

  int HandleMsgReqInfo( QueuePointer & resp_queue, 
            player_msghdr * hdr, 
            void * data );
  int HandleMsgReqData( QueuePointer & resp_queue, 
            player_msghdr * hdr, 
            void * data );
};

class InterfaceGraphics3d : public InterfaceModel
{
 public:
  InterfaceGraphics3d( player_devaddr_t addr, StgDriver* driver, ConfigFile* cf, int section );
  virtual ~InterfaceGraphics3d( void );
  
  virtual int ProcessMessage( QueuePointer & resp_queue,
                  player_msghdr * hdr,
                  void * data );
  virtual void Publish( void );

 private:

  void StoreCommand( int type, void* data );

  GList* commands; // list of drawing commands received since the last CLEAR
  bool rebuild_displaylist;
  int displaylist;
  
  // clear the display
  void Clear( void );
};

class StTime : public PlayerTime
{ 
 private: 
  StgDriver* driver;
  
 public: 
 // Constructor
  StTime( StgDriver* driver );
 
 // Destructor
 virtual ~StTime();
 
 // Get the simulator time
 int GetTime(struct timeval* time);
 int GetTimeDouble(double* time);
};


#endif

---