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_HANDLER_H
00012 #define NETWORK_HANDLER_H
00013 
00014 #include <gbxsickacfr/gbxiceutilacfr/subsystemthread.h>
00015 #include <orcaice/context.h>
00016 
00017 #include <orcaifaceimpl/odometry2dImpl.h>
00018 #include <orcaifaceimpl/odometry3dImpl.h>
00019 #include <orcaifaceimpl/powerImpl.h>
00020 #include <orcaifaceimpl/velocitycontrol2dImpl.h>
00021 #include <orcaifaceimpl/estopImpl.h>
00022 #include "hwthread.h"
00023 
00024 namespace segwayrmp
00025 {
00026 
00027 class NetThread : public gbxsickacfr::gbxiceutilacfr::SubsystemThread,
00028                   public gbxsickacfr::gbxiceutilacfr::NotifyHandler<orca::VelocityControl2dData>
00029 {
00030 public:
00031 
00032     NetThread( HwThread                      &hwMainThread,
00033                 const orca::VehicleDescription &descr,
00034                 const orcaice::Context         &context );
00035 
00036     // from SubsystemThread
00037     virtual void walk();
00038 
00039     // from NotifyHandler
00040     // this call originates in orcaifaceimpl::VelocityControl2dImpl
00041     virtual void handleData(const orca::VelocityControl2dData &incomingCommand);
00042 
00043 private:
00044 
00045     void initEStopCallback();
00046 
00047     // external interfaces
00048     orcaifaceimpl::Odometry2dImplPtr           odometry2dI_;
00049     orcaifaceimpl::Odometry3dImplPtr           odometry3dI_;
00050     orcaifaceimpl::PowerImplPtr                powerI_;
00051     orcaifaceimpl::VelocityControl2dImplPtr    velocityControl2dI_;
00052     
00053     // proxy to our optional 'required interface'
00054     orca::EStopPrx eStopPrx_;
00055 
00056     // we need this reference to call a couple of get/set functions
00057     HwThread &hwThread_;
00058 
00059     orca::VehicleDescription descr_;
00060     bool isEStopEnabled_;
00061 
00062     double maxForwardSpeed_;
00063     double maxReverseSpeed_;
00064     double maxTurnrate_;
00065     double maxLateralAcceleration_;
00066 
00067     // component context
00068     orcaice::Context context_;
00069 };
00070 
00071 } // namespace
00072 
00073 #endif
segwayrmp/netthread.h
