components/laserfeatureextractor/mainthread.h

/*
 * Orca-Robotics Project: Components for robotics 
 *               http://orca-robotics.sf.net/
 * Copyright (c) 2004-2009 Alex Brooks, Alexei Makarenko, Tobias Kaupp,
 *               George Mathews, Stef Williams.
 *
 * This copy of Orca is licensed to you under the terms described in
 * the LICENSE file included in this distribution.
 *
 */

#ifndef LASER_FEATURE_EXTRACTOR_MAIN_LOOP_H
#define LASER_FEATURE_EXTRACTOR_MAIN_LOOP_H

#include <orcaice/subsystemthread.h>
#include <orcaice/context.h>
#include <hydrointerfaces/laserfeatureextractor.h>
#include <orca/laserscanner2d.h>
#include <orcaifaceimpl/polarfeature2d.h>
#include <orcaifaceimpl/rangescanner2d.h>
#include <hydrodll/dynamicload.h>

namespace laserfeatures
{

class MainThread : public orcaice::SubsystemThread
{
public:

    MainThread( const orcaice::Context &context );

private:
    // from SubsystemThread
    virtual void initialise();
    virtual void work();

    void initDriver();
    void initPolarFeatureInterface();

    // The library that contains the driver factory (must be declared first so it's destructed last!!!)
    std::auto_ptr<hydrodll::DynamicallyLoadedLibrary> driverLib_;
    // Generic algorithm implementation
    std::auto_ptr<hydrointerfaces::LaserFeatureExtractor> driver_;
    
    // Our external interface
    orcaifaceimpl::PolarFeature2dImplPtr featureInterface_;
    
    // Description of laser details
    orca::RangeScanner2dDescription laserDescr_;

    // Consumers
    orcaifaceimpl::StoringRangeScanner2dConsumerImplPtr laserConsumer_;

    orcaice::Context context_;
};

} // namespace

#endif