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  TERMINAL_DISPLAY_THREAD_H
00012 #define  TERMINAL_DISPLAY_THREAD_H
00013 
00014 #include <gbxsickacfr/gbxiceutilacfr/safethread.h>
00015 #include <orcaice/context.h>
00016 #include <hydroiceutil/eventqueue.h>
00017 
00018 #include "display.h"
00019 
00020 namespace teleop
00021 {
00022 
00023 class TermDisplayDriver;
00024 
00025 class TermDisplayThread : public gbxsickacfr::gbxiceutilacfr::SafeThread, public Display
00026 {
00027 public:
00028 
00029     TermDisplayThread( const orcaice::Context& context );
00030     virtual ~TermDisplayThread();
00031 
00032     // from Thread
00033     virtual void walk();
00034 
00035     // from Display
00036     virtual void sentNewVelocityCommand( 
00037                 double vx, double vy, double w,
00038                 bool vxLimit=false, bool vyLimit=false, bool wLimit=false );
00039 
00040     virtual void sentNewBicycleCommand( 
00041                 double speed, double steerAngle,
00042                 bool speedLimit=false, bool steerAngleLimit=false );
00043 
00044     virtual void sentRepeatCommand();
00045 
00046     virtual void failedToSendCommand();
00047     
00048 private:
00049 
00050     hydroiceutil::EventQueuePtr events_;
00051 
00052     // generic interface to input hardware
00053     TermDisplayDriver* driver_;
00054 
00055     // component current context
00056     orcaice::Context context_;
00057 };
00058 
00059 } // namespace
00060 
00061 #endif
termdisplaythread.h
