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_SEGWAYRMP_PLAYER_CLIENT_H
00012 #define HYDRO_SEGWAYRMP_PLAYER_CLIENT_H
00013 
00014 #include <hydrointerfaces/segwayrmp.h>
00015 
00016 // Player proxies
00017 namespace PlayerCc
00018 {
00019 class PlayerClient;
00020 // class Position2dProxy;
00021 class Position3dProxy;
00022 class PowerProxy;
00023 }
00024 
00025 namespace segwayrmpplayerclient
00026 {
00027 
00028 class Driver : public hydrointerfaces::SegwayRmp
00029 {
00030 public:
00031 
00032     Driver( const hydroutil::Context& context );
00033     virtual ~Driver();
00034 
00035     // from SegwayRmp
00036     virtual void enable();
00037     virtual bool read( Data& data );
00038     virtual void write( const Command& command );
00039     virtual void getStatus( std::string &status, bool &isWarn, bool &isFault );
00040     virtual void applyHardwareLimits( double &maxForwardSpeed, double &maxReverseSpeed, 
00041                               double &maxTurnrate, double &maxTurnrateAtMaxSpeed );
00042 
00043 private:
00044     //
00045     // Convenience structure to hold all the config parameters.
00046     // All units are S.I.
00047     //
00048     class Config 
00049     {
00050     public:
00051         Config();
00052     
00053         const char *host;
00054         int port;
00055     
00056         // returns 0 if everything looks good.
00057         int verify( std::string& warnings, std::string& errors );
00058 
00059         void fromProperties( const hydroutil::Properties& props );
00060         std::string toString();
00061     };
00062 
00063     virtual void disable();
00064 
00065     bool enabled_;
00066     PlayerCc::PlayerClient *robot_;
00067 //     PlayerCc::Position2dProxy *positionProxy_;
00068     PlayerCc::Position3dProxy *position3dProxy_;
00069     PlayerCc::PowerProxy *powerProxy_;
00070 
00071     // configuration
00072     Config config_;
00073     hydroutil::Context context_;
00074 };
00075 
00076 // Used for dynamically loading driver
00077 class Factory : public hydrointerfaces::SegwayRmpFactory
00078 {
00079 public:
00080     hydrointerfaces::SegwayRmp *createDriver( const hydroutil::Context &context ) const
00081     {
00082         return new Driver( context );
00083     }
00084 };
00085 
00086 } // namespace
00087 
00088 // Used for dynamically loading driver
00089 extern "C" {
00090     hydrointerfaces::SegwayRmpFactory *createDriverFactory();
00091 }
00092 
00093 #endif
segwayrmpplayerclient/driver.h
