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, Michael Moser
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 HARDWARE_THREAD_H
00011 #define HARDWARE_THREAD_H
00012 
00013 #include <memory>
00014 #include <hydroiceutil/eventqueue.h>
00015 #include <orcaice/context.h>
00016 #include <hydrodll/dynamicload.h>
00017 // orca data types
00018 #include <orca/ins.h>
00019 #include <orca/gps.h>
00020 #include <orca/imu.h>
00021 // hardware interface
00022 #include <hydrointerfaces/insgps.h>
00023 
00024 namespace insgps {
00025 
00026 //
00027 // @brief the hardware loop of this component.
00028 //
00029 class HwThread : public gbxsickacfr::gbxiceutilacfr::SubsystemThread
00030 {
00031 
00032 public:
00033     HwThread( const orcaice::Context &context);
00034 
00035     // from SubsystemThread
00036     virtual void walk();
00037 
00038     // used to shove data from the hardware side to the network side
00039     // event queue, so we can put through different data types
00040     hydroiceutil::EventQueuePtr dataPipe_;
00041 
00042 private:
00043     // Tries repeatedly to instantiate the driver
00044     void initHardwareDriver();
00045 
00046     hydrointerfaces::InsGps::Config config_;
00047 
00048     // The library that contains the driver factory (must be declared first so it's destructed last!!!)
00049     std::auto_ptr<hydrodll::DynamicallyLoadedLibrary> driverLib_;
00050     // Generic driver for the hardware
00051     std::auto_ptr<hydrointerfaces::InsGps> driver_;
00052 
00053     orcaice::Context context_;
00054 };
00055 
00056 enum EventType {
00057    OrcaIns,
00058    OrcaGps,
00059    OrcaImu
00060 };
00061 
00062 class OrcaInsEvent : public hydroiceutil::Event
00063 {
00064     public:
00065         OrcaInsEvent(const hydrointerfaces::InsGps::InsData &hydroIns);
00066         orca::InsData data;
00067 };
00068 typedef IceUtil::Handle<OrcaInsEvent> OrcaInsEventPtr;
00069 
00070 class OrcaGpsEvent : public hydroiceutil::Event
00071 {
00072     public:
00073         OrcaGpsEvent(const hydrointerfaces::InsGps::GpsData &hydroGps);
00074         orca::GpsData data;
00075 };
00076 typedef IceUtil::Handle<OrcaGpsEvent> OrcaGpsEventPtr;
00077 
00078 class OrcaImuEvent : public hydroiceutil::Event
00079 {
00080     public:
00081         OrcaImuEvent(const hydrointerfaces::InsGps::ImuData &hydroImu);
00082         orca::ImuData data;
00083 };
00084 typedef IceUtil::Handle<OrcaImuEvent> OrcaImuEventPtr;
00085 
00086 } // namespace
00087 
00088 #endif
insgps/hwthread.h
