Orca Robotics

00001 /*
00002  * Orca-Robotics Project: Components for robotics 
00003  *               http://orca-robotics.sf.net/
00004  * Copyright (c) 2004-2008 Alex Brooks
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_LASERSCANNER2D_SICK_GBX_H
00012 #define HYDRO_LASERSCANNER2D_SICK_GBX_H
00013 
00014 #include <hydrointerfaces/laserscanner2d.h>
00015 #include <gbxsickacfr/driver.h>
00016 #include <memory>
00017 
00018 namespace laserscanner2dsickgbx {
00019 
00020 //
00021 // @author Alex Brooks
00022 //
00023 class Driver : public hydrointerfaces::LaserScanner2d
00024 {
00025 
00026 public: 
00027 
00028     Driver( const Config &config, const hydroutil::Context &context );
00029 
00030     void read( hydrointerfaces::LaserScanner2d::Data &data );
00031 
00032 private: 
00033 
00034     std::auto_ptr<gbxsickacfr::Driver> device_;
00035 
00036     Config config_;
00037     hydroutil::Context context_;
00038 };
00039 
00040 // Used for dynamically loading driver
00041 class Factory : public hydrointerfaces::LaserScanner2dFactory
00042 {
00043 public:
00044     hydrointerfaces::LaserScanner2d*
00045     createDriver( const hydrointerfaces::LaserScanner2d::Config &config,
00046                   const hydroutil::Context &context ) const
00047     {
00048         return new Driver( config, context );
00049     }
00050 };
00051 
00052 } // namespace
00053 
00054 // Used for dynamically loading driver
00055 extern "C" {
00056     hydrointerfaces::LaserScanner2dFactory *createDriverFactory();
00057 }
00058 
00059 #endif
laserscanner2dsickgbx/driver.h
