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_INSGPS_FAKE_H
00012 #define HYDRO_INSGPS_FAKE_H
00013 
00014 #include <hydrointerfaces/insgps.h>
00015 
00016 namespace insgpsfake {
00017 
00018 //
00019 // Bogus insgps driver, useful for testing the rest of the component.
00020 //
00021 class Driver : public hydrointerfaces::InsGps
00022 {
00023 
00024 public:
00025 
00026     Driver( const Config &cfg, const hydroutil::Context &context );
00027 
00028     // Blocks till new data is available
00029     virtual std::auto_ptr<hydrointerfaces::InsGps::GenericData> read();
00030 
00031 private:
00032 
00033     InsGps::Config config_;
00034     hydroutil::Context context_;
00035 };
00036 
00037 // Used for dynamically loading driver
00038 class Factory : public hydrointerfaces::InsGpsFactory
00039 {
00040 public:
00041     hydrointerfaces::InsGps *createDriver( 
00042                 const hydrointerfaces::InsGps::Config &config,
00043                 const hydroutil::Context &context ) const
00044     {
00045         return new Driver( config, context );
00046     }
00047 };
00048 
00049 } // namespace
00050 
00051 // Used for dynamically loading driver
00052 extern "C" {
00053     hydrointerfaces::InsGpsFactory *createDriverFactory();
00054 }
00055 
00056 #endif
insgpsfake/driver.h
