Orca Robotics

00001 #ifndef GOALPLANNER_PROGRESSMONITOR_H
00002 #define GOALPLANNER_PROGRESSMONITOR_H
00003 
00004 #include <orca/pathfollower2d.h>
00005 #include <IceUtil/IceUtil.h>
00006 
00007 namespace goalplanner {
00008 
00009 //
00010 // @brief Keeps track of our current path and how far along we are.
00011 //
00012 // @author Alex Brooks
00013 //
00014 class ProgressMonitor : public orca::PathFollower2dConsumer
00015 {
00016 
00017 public: 
00018 
00019     ProgressMonitor();
00020 
00021     //
00022     // Functions called locally
00023     //
00024 
00025     // If we're currently following a path (ie both activated and enabled), 
00026     // returns true and sets currentWp to the waypoint we're currently seeking.
00027     // Otherwise, returns false.
00028     bool getCurrentWp( orca::Waypoint2d &currentWp );
00029     // return val same as getCurrentWp
00030     bool getCurrentPath( orca::PathFollower2dData &pathData, int &wpIndex );
00031 
00032     //
00033     // Functions called remotely
00034     //
00035     void setWaypointIndex( int index, const ::Ice::Current& =::Ice::Current() );
00036     void setActivationTime( const orca::Time &absoluteTime, double relativeTime, const ::Ice::Current& =::Ice::Current() );
00037     void setData( const orca::PathFollower2dData &data, const ::Ice::Current& =::Ice::Current() );
00038     void setEnabledState( bool enabledState, const ::Ice::Current& =::Ice::Current() );
00039 
00040 private: 
00041 
00042     bool followingPath() const;
00043 
00044     bool gotData_;
00045     orca::PathFollower2dData pathData_;
00046     bool isEnabled_;
00047     int wpIndex_;
00048 
00049     IceUtil::Mutex mutex_;
00050 
00051 };
00052 
00053 }
00054 
00055 #endif
progressmonitor.h
