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  *               George Mathews, Stef Williams.
00006  *
00007  * This copy of Orca is licensed to you under the terms described in
00008  * the LICENSE file included in this distribution.
00009  *
00010  */
00011 
00012 #ifndef LASER_FEATURE_EXTRACTOR_MAIN_LOOP_H
00013 #define LASER_FEATURE_EXTRACTOR_MAIN_LOOP_H
00014 
00015 #include <gbxsickacfr/gbxiceutilacfr/subsystemthread.h>
00016 #include <orcaice/context.h>
00017 #include <hydrointerfaces/laserfeatureextractor.h>
00018 #include <orca/laserscanner2d.h>
00019 #include <orcaifaceimpl/polarfeature2dImpl.h>
00020 #include <orcaifaceimpl/storingconsumers.h>
00021 #include <hydrodll/dynamicload.h>
00022 
00023 namespace laserfeatures
00024 {
00025 
00026 class MainThread : public gbxsickacfr::gbxiceutilacfr::SubsystemThread
00027 {
00028 public:
00029 
00030     MainThread( const orcaice::Context &context );
00031 
00032     // from SubsystemThread
00033     virtual void walk();
00034 
00035 private:
00036 
00037     void connectToLaser();
00038     void getLaserDescription();
00039     void initDriver();
00040     void initPolarFeatureInterface();
00041 
00042     // The library that contains the driver factory (must be declared first so it's destructed last!!!)
00043     std::auto_ptr<hydrodll::DynamicallyLoadedLibrary> driverLib_;
00044     // Generic algorithm implementation
00045     std::auto_ptr<hydrointerfaces::LaserFeatureExtractor> driver_;
00046     
00047     // Our external interface
00048     orcaifaceimpl::PolarFeature2dImplPtr featureInterface_;
00049     
00050     // Description of laser details
00051     orca::RangeScanner2dDescription laserDescr_;
00052 
00053     // Consumers
00054     orcaifaceimpl::StoringRangeScanner2dConsumerImplPtr laserConsumer_;
00055 
00056     orcaice::Context context_;
00057 };
00058 
00059 } // namespace
00060 
00061 #endif
components/laserfeatureextractor/mainthread.h
