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 #ifndef MAIN_THREAD_H
00011 #define MAIN_THREAD_H
00012 
00013 #include <memory>
00014 #include <hydroiceutil/hydroiceutil.h>
00015 #include <orcaice/context.h>
00016 // remote interfaces
00017 #include <orcaifaceimpl/insImpl.h>
00018 #include <orcaifaceimpl/gpsImpl.h>
00019 #include <orcaifaceimpl/imuImpl.h>
00020 
00021 namespace insgps {
00022 
00023 //
00024 // @brief the main executing loop of this insgps component.
00025 //
00026 class MainThread : public gbxsickacfr::gbxiceutilacfr::SubsystemThread
00027 {
00028 
00029 public:
00030 
00031     MainThread( const orcaice::Context &context );
00032     virtual ~MainThread();
00033 
00034     // from SubsystemThread
00035     virtual void walk();
00036 
00037 private:
00038     // Loops until established
00039     void initNetworkInterface();
00040 
00041     // provided interfaces
00042     orcaifaceimpl::InsImplPtr insInterface_;
00043     orcaifaceimpl::GpsImplPtr gpsInterface_;
00044     orcaifaceimpl::ImuImplPtr imuInterface_;
00045 
00046     // Thread talking to hardware
00047     IceUtil::Handle<class HwThread> hwThread_;
00048 
00049     orcaice::Context context_;
00050 };
00051 
00052 } // namespace
00053 
00054 #endif
components/insgps/mainthread.h
