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  INPUT_THREAD_H
00012 #define  INPUT_THREAD_H
00013 
00014 #include <memory>
00015 #include <gbxsickacfr/gbxiceutilacfr/safethread.h>
00016 #include <orcaice/context.h>
00017 #include <hydrointerfaces/humaninput2d.h>
00018 #include <hydrodll/dynamicload.h>
00019 
00020 namespace teleop
00021 {
00022 
00023 class Network;
00024 // class InputDriver;
00025 
00026 class InputThread : public gbxsickacfr::gbxiceutilacfr::SafeThread
00027 {
00028 public:
00029 
00030     InputThread( Network* network, const orcaice::Context& context );
00031 
00032     // from SafeThread
00033     virtual void walk();
00034 
00035 private:
00036 
00037     Network* network_;
00038 
00039     // The library that contains the driver factory (must be declared first so it's destructed last!!!)
00040     std::auto_ptr<hydrodll::DynamicallyLoadedLibrary> driverLib_;
00041     // Generic driver for the hardware
00042     std::auto_ptr<hydrointerfaces::HumanInput2d> driver_;
00043 
00044     // component current context
00045     orcaice::Context context_;
00046 
00047 };
00048 
00049 } // namespace
00050 
00051 #endif
teleop/inputthread.h
