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 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 MAIN_THREAD_H
00012 #define MAIN_THREAD_H
00013 
00014 #include <gbxsickacfr/gbxiceutilacfr/subsystemthread.h>
00015 #include <orcaice/context.h>
00016 
00017 #include <orca/gps.h>
00018 #include <orcaifaceimpl/localise2dImpl.h>
00019 #include <orcaifaceimpl/storingconsumers.h>
00020 
00021 namespace gps2localise2d
00022 {
00023 
00024 class Driver;
00025 
00026 class MainThread : public gbxsickacfr::gbxiceutilacfr::SubsystemThread
00027 {
00028 public:
00029 
00030     MainThread( const orcaice::Context &context );
00031 
00032     ~MainThread();
00033 
00034     virtual void walk();
00035 
00036 private:
00037 
00038     void subscribeToGps();
00039     void getGpsDescription();
00040     void initNetworkInterface();
00041     void initDriver();
00042     
00043     // This component is 2D-centric: can only handle certain orientations.
00044     bool antennaOffsetOK( const orca::Frame3d &antennaOffset );
00045 
00046     // generic algorithm
00047     Driver* driver_;
00048     
00049     // Our external interface
00050     orcaifaceimpl::Localise2dImplPtr localiseInterface_;
00051     
00052     orca::GpsPrx gpsPrx_;
00053     orca::Frame3d antennaOffset_;
00054     orca::GpsDescription gpsDescr_;
00055 
00056     // Consumers
00057     orcaifaceimpl::StoringGpsConsumerImplPtr gpsConsumer_;
00058 
00059     orcaice::Context context_;
00060 };
00061 
00062 } // namespace
00063 
00064 #endif
components/gps2localise2d/mainthread.h
