components/simlocaliser/driver.h

00001 /*
00002  * Orca-Robotics Project: Components for robotics 
00003  *               http://orca-robotics.sf.net/
00004  * Copyright (c) 2004-2009 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 DRIVER_H
00012 #define DRIVER_H
00013 
00014 #include <orca/localise2d.h>
00015 
00016 namespace simlocaliser
00017 {
00018 
00019 class Driver
00020 {
00021 
00022 public:
00023     virtual ~Driver() {};
00024     
00025     // Returns 0 on success. Does not throw.
00026     virtual int enable()=0;
00027     
00028     // Returns 0 on success. Does not throw.
00029     virtual int repair()=0;
00030     
00031     // Returns 0 on success. Does not throw.
00032     virtual int disable()=0;
00033 
00034     // Blocking read. Returns 0 on success. Does not throw.
00035     virtual int read( orca::Localise2dData& position2d )=0;
00036 
00037     // For debugging, convert to string as much of internal state as possible
00038     virtual std::string toString() { return std::string(""); };
00039 
00040 };
00041 
00042 } // namespace
00043 
00044 #endif