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  *
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 
00011 #ifndef NETWORK_THREAD_H
00012 #define NETWORK_THREAD_H
00013 
00014 #include <gbxsickacfr/gbxiceutilacfr/subsystemthread.h>
00015 #include <orcaice/context.h>
00016 #include <gbxsickacfr/gbxiceutilacfr/notify.h>
00017 
00018 #include <orcaifaceimpl/odometry2dImpl.h>
00019 #include <orcaifaceimpl/velocitycontrol2dImpl.h>
00020 #include "hwthread.h"
00021 
00022 namespace robot2d
00023 {
00024 
00025 //
00026 // Handles network interface
00027 //
00028 class NetThread : public gbxsickacfr::gbxiceutilacfr::SubsystemThread,
00029                   public gbxsickacfr::gbxiceutilacfr::NotifyHandler<orca::VelocityControl2dData>
00030 {
00031 public:
00032 
00033     NetThread( HwThread                      &HwThread,
00034                 const orca::VehicleDescription &descr,
00035                 const orcaice::Context         &context );
00036     virtual ~NetThread();
00037 
00038     // from SubsystemThread
00039     virtual void walk();
00040 
00041     // from NotifyHandler
00042     virtual void handleData(const orca::VelocityControl2dData& obj);
00043 
00044 private:
00045 
00046     void limit( hydrointerfaces::Robot2d::Command &cmd );
00047 
00048     // external interfaces
00049     orcaifaceimpl::Odometry2dImplPtr           odometry2dI_;
00050     orcaifaceimpl::VelocityControl2dImplPtr    velocityControl2dI_;
00051 
00052     HwThread &HwThread_;
00053 
00054     orca::VehicleDescription descr_;
00055 
00056     double maxSpeed_;
00057     double maxTurnrate_;
00058 
00059     // component current context
00060     orcaice::Context context_;
00061 };
00062 
00063 } // namespace
00064 
00065 #endif
robot2d/netthread.h
