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components/gps/mainthread.h00001 /* 00002 * Orca-Robotics Project: Components for robotics 00003 * http://orca-robotics.sf.net/ 00004 * Copyright (c) 2004-2009 Mathew Ridley, Alex Brooks, Alexei Makarenko, Tobias Kaupp 00005 * 00006 * This copy of Orca is licensed to you under the terms described in 00007 * the LICENSE file included in this distribution. 00008 * 00009 */ 00010 00011 #ifndef MAIN_THREAD_H 00012 #define MAIN_THREAD_H 00013 00014 #include <memory> 00015 #include <orcaice/subsystemthread.h> 00016 #include <orcaice/context.h> 00017 #include <hydrodll/dynamicload.h> 00018 // remote interface 00019 #include <orcaifaceimpl/gps.h> 00020 // hardware interface 00021 #include <hydrointerfaces/gps.h> 00022 00023 namespace gps { 00024 00025 class MainThread : public orcaice::SubsystemThread 00026 { 00027 00028 public: 00029 00030 MainThread( const orcaice::Context& context ); 00031 00032 private: 00033 00034 // from SubsystemThread 00035 virtual void initialise(); 00036 virtual void work(); 00037 00038 // Tries repeatedly to instantiate the driver 00039 void initHardwareDriver(); 00040 00041 // Loops until established 00042 void initNetworkInterface(); 00043 00044 orca::GpsDescription descr_; 00045 orcaifaceimpl::GpsImplPtr gpsInterface_; 00046 00047 hydrointerfaces::Gps::Config config_; 00048 00049 // The library that contains the driver factory (must be declared first so it's destructed last!!!) 00050 std::auto_ptr<hydrodll::DynamicallyLoadedLibrary> driverLib_; 00051 // Generic driver for the hardware 00052 std::auto_ptr<hydrointerfaces::Gps> driver_; 00053 00054 // options 00055 bool publishWithoutFix_; 00056 00057 orcaice::Context context_; 00058 }; 00059 00060 } // namespace 00061 00062 #endif |
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