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 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 HYDRO_INTERFACES_ROBOT2D_H
00012 #define HYDRO_INTERFACES_ROBOT2D_H
00013 
00014 #include <hydroutil/context.h>
00015 #include <exception>
00016 
00017 namespace hydrointerfaces
00018 {
00019 
00044 class SOEXPORT Robot2d
00045 {
00046 
00047 public: 
00048 
00050     class Data
00051     {
00052     public:
00054         int seconds;
00056         int useconds;
00058         double x;
00060         double y;
00062         double yaw;
00064         double vlong;
00066         double vtransverse;
00068         double dyaw;
00069     
00071         std::string toString() const;
00072     };
00073     
00075     class Command
00076     {
00077     public:
00079         double vlong;
00081         double vtransverse;
00083         double dyaw;
00084     
00086         std::string toString() const;
00087     };
00088 
00090     class Exception : public std::exception
00091     {
00092     public:
00094         Exception(const char *message)
00095             : message_(message) {}
00097         Exception(const std::string &message)
00098             : message_(message) {}
00099     
00100         virtual ~Exception() throw() {}
00102         virtual const char* what() const throw() { return message_.c_str(); }
00103     
00104     protected:
00105     
00106         std::string  message_;
00107     };
00108 
00109     virtual ~Robot2d() {}
00110 
00115     virtual void enable()=0;
00116 
00121     virtual bool read( Data &data )=0;
00122     
00124     virtual void write( const Command& command )=0;
00125 
00132     virtual void getStatus( std::string &status, bool &isWarn, bool &isFault )=0;
00133 
00135     virtual void applyHardwareLimits( double &maxForwardSpeed, double &maxReverseSpeed, 
00136                               double &maxTurnrate, double &maxTurnrateAtMaxSpeed )=0;
00137 
00138 };
00139 
00141 class SOEXPORT Robot2dFactory {
00142 public:
00143     virtual ~Robot2dFactory() {};
00145     virtual Robot2d *createDriver( const hydroutil::Context& context ) const=0;
00146 };
00147 
00149 } // namespace
00150 
00151 // Function for dynamically instantiating drivers.
00152 // A driver must have a function like so:
00153 // extern "C" {
00154 //     hydrointerfaces::Robot2dFactory *createDriverFactory();
00155 // }
00156 typedef hydrointerfaces::Robot2dFactory *DriverFactoryMakerFunc();
00157 
00158 #endif
robot2d.h
