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/safethread.h>
00015 #include <orcaice/context.h>
00016 #include <hydroiceutil/eventqueue.h>
00017 
00018 #include "network.h"
00019 
00020 namespace teleop
00021 {
00022 
00023 class Display;
00024 class NetworkDriver;
00025 
00026 class NetworkThread : public gbxsickacfr::gbxiceutilacfr::SafeThread, public Network
00027 {
00028 public:
00029 
00030     NetworkThread( Display* display, const orcaice::Context& context );
00031     virtual ~NetworkThread();
00032 
00033     // from SafeThread
00034     virtual void walk();
00035 
00036     // from Network
00037     virtual void newMixedCommand( const hydrointerfaces::HumanInput2d::Command& command );
00038 
00039     virtual void newIncrementCommand( int longitudinal, int transverse, int angle );
00040     virtual void newRelativeCommand( double longitudinal, double transverse, double angle );
00041 
00042 
00043 private:
00044 
00045     hydroiceutil::EventQueuePtr events_;
00046 
00047     Display* display_;
00048 
00049     NetworkDriver* driver_;
00050 
00051     // component current context
00052     orcaice::Context context_;
00053 
00054 };
00055 
00056 } // namespace
00057 
00058 #endif
teleop/networkthread.h
