Orca Robotics

00001 /*
00002  * Orca-Robotics Project: Components for robotics 
00003  *               http://orca-robotics.sf.net/
00004  * Copyright (c) 2004-2008 Alex Brooks, Alexei Makarenko, Tobias Kaupp
00005  *
00006  * This distribution is licensed to you under the terms described in
00007  * the LICENSE file included in this distribution.
00008  *
00009  */
00010 
00011 #ifndef HYDRO_GPS_FAKE_H
00012 #define HYDRO_GPS_FAKE_H
00013 
00014 #include <hydrointerfaces/gps.h>
00015 
00016 namespace gpsfake {
00017 
00018 //
00019 // Bogus laser driver, useful for testing the rest of the component.
00020 //
00021 class Driver : public hydrointerfaces::Gps
00022 {
00023 
00024 public:
00025 
00026     Driver( const Config &cfg, const hydroutil::Context &context );
00027 
00028     virtual void read( hydrointerfaces::Gps::Data &data );
00029 
00030 private:
00031 
00032     std::vector<double> latitudes_;
00033     std::vector<double> longitudes_;
00034     unsigned int numReads_;
00035     unsigned int dataRecord_;
00036     int fixCounter_;
00037 
00038     Gps::Config config_;
00039     hydroutil::Context context_;
00040 };
00041 
00042 // Used for dynamically loading driver
00043 class Factory : public hydrointerfaces::GpsFactory
00044 {
00045 public:
00046     hydrointerfaces::Gps *createDriver( 
00047                 const hydrointerfaces::Gps::Config &config,
00048                 const hydroutil::Context &context ) const
00049     {
00050         return new Driver( config, context );
00051     }
00052 };
00053 
00054 } // namespace
00055 
00056 // Used for dynamically loading driver
00057 extern "C" {
00058     hydrointerfaces::GpsFactory *createDriverFactory();
00059 }
00060 
00061 #endif
gpsfake/driver.h
