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components/localnav/mainthread.h /* * Orca-Robotics Project: Components for robotics * http://orca-robotics.sf.net/ * Copyright (c) 2004-2006 Alex Brooks, Alexei Makarenko, Tobias Kaupp, Ben Upcroft * * This copy of Orca is licensed to you under the terms described in * the LICENSE file included in this distribution. * */ #ifndef MAINTHREAD_H #define MAINTHREAD_H #include <orca/velocitycontrol2d.h> #include <orca/localise2d.h> #include <orca/rangescanner2d.h> #include <orcaice/context.h> #include <gbxsickacfr/gbxiceutilacfr/subsystemthread.h> #include <gbxsickacfr/gbxiceutilacfr/store.h> #include <orcaifaceimpl/storingconsumers.h> #include "speedlimiter.h" #include "pathmaintainer.h" #include "clock.h" #include <orcalocalnav/idriver.h> #include <hydronavutil/hydronavutil.h> #include <hydrodll/dynamicload.h> #include "pathfollowerinterface.h" #include "testsim/simulator.h" #include "algorithmevaluator.h" namespace localnav { // // @brief the main executing loop of this component. // // Note: this thing self-destructs when run() returns. // // // @author Alex Brooks // class MainThread : public gbxsickacfr::gbxiceutilacfr::SubsystemThread { public: MainThread( const orcaice::Context &context ); virtual void walk(); private: void getVehicleDescription(); void getRangeScannerDescription(); void setup(); void initPathFollowerInterface(); void sendCommandToPlatform( const hydronavutil::Velocity &cmd ); // Make sure all our sources of info are OK, and that there's something // in all our buffers void ensureProxiesNotEmpty(); // See if we need to follow a new path, plus // see if we should update the world on our progress. void checkWithOutsideWorld(); void getInputs( hydronavutil::Velocity &velocity, hydronavutil::Pose &localisePose, orca::Time &poseTime, bool &isLocalisationUncertain, std::vector<float> &obsRanges, orca::Time &obsTime ); void stopVehicle(); // Constrains the max speed std::auto_ptr<SpeedLimiter> speedLimiter_; // Keeps track of the path we're following std::auto_ptr<PathMaintainer> pathMaintainer_; // The library that contains the driver factory (must be declared first so it's destructed last!!!) std::auto_ptr<hydrodll::DynamicallyLoadedLibrary> driverLib_; // The factory which creates the driver std::auto_ptr<orcalocalnav::DriverFactory> driverFactory_; // Does the work std::auto_ptr<orcalocalnav::IDriver> driver_; // Incoming observations and pose info // Get observations, pose, and odometric velocity orcaifaceimpl::StoringRangeScanner2dConsumerImplPtr obsConsumer_; orcaifaceimpl::StoringLocalise2dConsumerImplPtr locConsumer_; orcaifaceimpl::StoringOdometry2dConsumerImplPtr odomConsumer_; std::auto_ptr<PathFollowerInterface> pathFollowerInterface_; // Outgoing commands: live version orca::VelocityControl2dPrx velControl2dPrx_; // Outgoing commands: test version Simulator *testSimulator_; // temporary data orca::Localise2dData orcaLocaliseData_; orca::Odometry2dData orcaOdomData_; orca::RangeScanner2dDataPtr orcaRangeData_; // A global time reference std::auto_ptr<Clock> clock_; orca::VehicleDescription vehicleDescr_; orca::RangeScanner2dDescription scannerDescr_; bool testMode_; std::auto_ptr<AlgorithmEvaluator> algorithmEvaluator_; orcaice::Context context_; }; } #endif

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