Orca Robotics

00001 #ifndef LOCALNAV_PATHFOLLOWERINTERFACE_H
00002 #define LOCALNAV_PATHFOLLOWERINTERFACE_H
00003 
00004 #include <orcaifaceimpl/pathfollower2dImpl.h>
00005 #include "clock.h"
00006 
00007 namespace localnav {
00008 
00012 class PathFollowerInterface : public orcaifaceimpl::PathFollowerCallback
00013 {
00014 
00015 public: 
00016 
00017     PathFollowerInterface( const Clock &clock,
00018                            const std::string &interfaceTag,
00019                            const orcaice::Context &context );
00020 
00021     void initInterface() { pathFollower2dImpl_->initInterface(); }
00022 
00023     // Allow localnav's internals to increment the waypoint index
00024     void updateWaypointIndex( int index );
00025     // Allow component internals to check for pending requests
00026     void serviceRequests( bool                     &gotNewPath,
00027                           orca::PathFollower2dData &pathData,
00028                           bool                     &gotActivation,
00029                           orca::Time               &pathStartTime );
00030 
00031     // From orcaifaceimpl::PathFollowerCallback
00032     void setData( const orca::PathFollower2dData &pathData, bool activateImmediately );
00033     void activateNow();
00034     int  getWaypointIndex() const;
00035     bool getAbsoluteActivationTime( orca::Time &activationTime ) const;
00036     bool getRelativeActivationTime( double &secondsSinceActivation ) const;
00037     void setEnabled( bool enabled );
00038     bool enabled() const;
00039 
00040 private: 
00041 
00042     double timeSinceActivate( const orca::Time &activationTime );
00043 
00044     orcaifaceimpl::PathFollower2dImplPtr pathFollower2dImpl_;
00045 
00046     // New paths from the outside world go in here
00047     gbxsickacfr::gbxiceutilacfr::Store<orca::PathFollower2dData>        pendingPathRequestStore_;
00048 
00049     // Time of Activation from the outside world goes in here
00050     gbxsickacfr::gbxiceutilacfr::Store<orca::Time>                      pendingActivationRequestStore_;
00051 
00052     // Progress info from the component goes in here
00053     gbxsickacfr::gbxiceutilacfr::Store<int>                             wpIndexStore_;
00054     gbxsickacfr::gbxiceutilacfr::Store<orca::Time>                      activationTimeStore_;
00055 
00056     // Allow external en/dis-able
00057     gbxsickacfr::gbxiceutilacfr::Store<bool>                            enabledStore_;
00058 
00059     const Clock &clock_;
00060 
00061     orcaice::Context context_;
00062 };
00063 
00064 }
00065 
00066 #endif
pathfollowerinterface.h
