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 <gbxsickacfr/gbxiceutilacfr/subsystemthread.h>
00015 #include <orcaice/context.h>
00016 
00017 #include <orca/rangescanner2d.h>
00018 #include <orca/localise2d.h>
00019 #include <orca/ogfusion.h>
00020 #include <orcaifaceimpl/bufferedconsumers.h>
00021 #include "laser2og.h"
00022 
00023 namespace laser2og
00024 {
00025 
00026 class MainThread : public gbxsickacfr::gbxiceutilacfr::SubsystemThread
00027 {
00028 public:
00029     
00030     MainThread( const orcaice::Context &context );
00031 
00032     virtual void walk();
00033     
00034 private:
00035 
00036     void init();
00037     
00038     // for our requests for current location
00039     orca::Localise2dPrx localise2dPrx_;
00040     // for getting config data
00041     orca::RangeScanner2dPrx rangeScannerPrx_;
00042     // for setting ogfusion data
00043     orca::OgFusionPrx ogFusionPrx_;
00044     // for receiving the data
00045     orcaifaceimpl::BufferedRangeScanner2dConsumerImplPtr consumer_;
00046 
00047     std::auto_ptr<Laser2Og> laser2Og_;
00048 
00049     orcaice::Context context_;
00050 };
00051 
00052 } //namespace
00053 
00054 #endif
00055
components/laser2og/mainthread.h
