libs/orcapublish/rangescanner2dpublisher.h

00001 #ifndef ORCAPUBLISH_RANGESCANNER2DPUBLISHER_H
00002 #define ORCAPUBLISH_RANGESCANNER2DPUBLISHER_H
00003 
00004 #include <hydropublish/rangescanner2dpublisher.h>
00005 #include <orcaifaceimpl/rangescanner2d.h>
00006 #include <orcascanutil/orcascanutil.h>
00007 
00008 namespace orcapublish {
00009 
00015 class RangeScanner2dPublisher : public hydropublish::RangeScanner2dPublisher
00016 {
00017 public:
00018 
00019     RangeScanner2dPublisher( const orca::RangeScanner2dDescription &descr,
00020                              const orcaice::Context                &context,
00021                              const std::string                     &interfaceString )
00022         : rangeScanner2dImpl_(new orcaifaceimpl::RangeScanner2dImpl(descr,context,interfaceString)),
00023           descr_(descr)
00024         {}
00025 
00026     void init()
00027         { rangeScanner2dImpl_->initInterface(); }
00028 
00029     // From hydropublish::RangeScanner2dPublisher
00030     void localSetAndSend( const std::vector<float> &ranges,
00031                           const hydrotime::Time    &time )
00032         {
00033             orca::RangeScanner2dDataPtr orcaData = new orca::RangeScanner2dData;
00034 
00035             orcaData->timeStamp.seconds  = time.seconds();
00036             orcaData->timeStamp.useconds = time.useconds();
00037             orcaData->ranges             = ranges;
00038             orcaData->minRange           = descr_.minRange;
00039             orcaData->maxRange           = descr_.maxRange;
00040             orcaData->fieldOfView        = descr_.fieldOfView;
00041             orcaData->startAngle         = descr_.startAngle;
00042 
00043             rangeScanner2dImpl_->localSetAndSend( orcaData );
00044         }
00045 
00046 private:
00047 
00048     orcaifaceimpl::RangeScanner2dImplPtr rangeScanner2dImpl_;
00049     orca::RangeScanner2dDescription      descr_;
00050 
00051 };
00052 
00058 class RangeScanner2dPublisherFactory : public hydropublish::RangeScanner2dPublisherFactory
00059 {
00060 public:
00061 
00062     RangeScanner2dPublisherFactory( const orcaice::Context &context )
00063         : context_(context)
00064         {}
00065 
00066     hydropublish::RangeScanner2dPublisherPtr createPublisher( const hydroscanutil::ScannerConfig &scannerConfig,
00067                                                               const hydronavutil::Pose           &scannerOffset,
00068                                                               const std::string                  &name )
00069         { 
00070             return hydropublish::RangeScanner2dPublisherPtr(
00071                 new RangeScanner2dPublisher( orcascanutil::convert( scannerConfig, scannerOffset ),
00072                                              context_,
00073                                              name ) ); 
00074         }
00075 
00076 private:
00077 
00078     orcaice::Context context_;
00079 };
00080 
00081 }
00082 
00083 #endif