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  EVENTS_H
00012 #define  EVENTS_H
00013 
00014 #include <hydroiceutil/eventqueue.h>
00015 
00016 namespace teleop
00017 {
00018 
00019 enum EventType  
00020 {
00021     // user & network
00022     SentVelocityCommand=0,
00023     SentBicycleCommand,
00024     SentRepeatCommand,
00025     FailedToSendCommand,
00026     // network
00027     MixedCommand,
00028     IncrementCommand,
00029     RelativeCommand
00030 };
00031 
00032 class SentVelocityCommandEvent : public hydroiceutil::Event
00033 {
00034 public:
00035     SentVelocityCommandEvent( double vx, double vy, double w, bool vxLimit, bool vyLimit, bool wLimit ) :
00036         Event( SentVelocityCommand ),
00037         vx_(vx),
00038         vy_(vy),
00039         w_(w),
00040         vxLimit_(vxLimit),
00041         vyLimit_(vyLimit),
00042         wLimit_(wLimit) {};
00043 
00044     double vx_;
00045     double vy_;
00046     double w_;
00047     bool vxLimit_;
00048     bool vyLimit_;
00049     bool wLimit_;
00050 };
00051 typedef IceUtil::Handle<SentVelocityCommandEvent> SentVelocityCommandEventPtr;
00052 
00053 class SentBicycleCommandEvent : public hydroiceutil::Event
00054 {
00055 public:
00056     SentBicycleCommandEvent( double speed, double steerAngle, bool speedLimit, bool steerAngleLimit ) :
00057         Event( SentBicycleCommand ),
00058         speed_(speed),
00059         steerAngle_(steerAngle),
00060         speedLimit_(speedLimit),
00061         steerAngleLimit_(steerAngleLimit) {};
00062 
00063     double speed_;
00064     double steerAngle_;
00065     bool speedLimit_;
00066     bool steerAngleLimit_;
00067 };
00068 typedef IceUtil::Handle<SentBicycleCommandEvent> SentBicycleCommandEventPtr;
00069 
00070 class SentRepeatCommandEvent : public hydroiceutil::Event
00071 {
00072 public:
00073     SentRepeatCommandEvent() :
00074         Event( SentRepeatCommand ) {};
00075 };
00076 
00077 class FailedToSendCommandEvent : public hydroiceutil::Event
00078 {
00079 public:
00080     FailedToSendCommandEvent() :
00081         Event( FailedToSendCommand ) {};
00082 };
00083 
00084 class MixedCommandEvent : public hydroiceutil::Event
00085 {
00086 public:
00087     MixedCommandEvent( double lon, bool isLong, double tr, bool isTr, double ang, bool isAng ) :
00088         Event( MixedCommand ),
00089         longitudinal(lon),
00090         isLongIncrement(isLong),
00091         transverse(tr),
00092         isTransverseIncrement(isTr),
00093         angular(ang),
00094         isAngularIncrement(isAng) {};
00095 
00096     double longitudinal;
00097     bool isLongIncrement;
00098     double transverse;
00099     bool isTransverseIncrement;
00100     double angular;
00101     bool isAngularIncrement;
00102 };
00103 typedef IceUtil::Handle<MixedCommandEvent> MixedCommandEventPtr;
00104 
00105 class IncrementCommandEvent : public hydroiceutil::Event
00106 {
00107 public:
00108     IncrementCommandEvent( int lon, int tr, int ang ) :
00109         Event( IncrementCommand ),
00110         longitudinal(lon),
00111         transverse(tr),
00112         angular(ang) {};
00113 
00114     int longitudinal;
00115     int transverse;
00116     int angular;
00117 };
00118 typedef IceUtil::Handle<IncrementCommandEvent> IncrementCommandEventPtr;
00119 
00120 class RelativeCommandEvent : public hydroiceutil::Event
00121 {
00122 public:
00123     RelativeCommandEvent( double lon, double tr, double ang ) :
00124         Event( RelativeCommand ),
00125         longitudinal(lon),
00126         transverse(tr),
00127         angular(ang) {};
00128 
00129     double longitudinal;
00130     double transverse;
00131     double angular;
00132 };
00133 typedef IceUtil::Handle<RelativeCommandEvent> RelativeCommandEventPtr;
00134 
00135 
00136 class TeleopEventQueueOptimizer : public hydroiceutil::EventQueueOptimizer
00137 {
00138 public:
00139     // this combine function adds the member variables of the two events
00140     virtual bool combine( hydroiceutil::EventPtr& existing, const hydroiceutil::EventPtr& extra );
00141 };
00142 
00143 } // namespace
00144 
00145 #endif
teleop/events.h
