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libs/orcateleop/networkthread.h

00001 /*
00002  * Orca-Robotics Project: Components for robotics
00003  *               http://orca-robotics.sf.net/
00004  * Copyright (c) 2004-2009 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 orcateleop
00021 {
00022 
00023 class Display;
00024 class NetworkDriver;
00025 
00026 class NetworkThread : public gbxiceutilacfr::SafeThread, public Network
00027 {
00028 public:
00029 
00030     NetworkThread( Display* display, const orcaice::Context& context );
00031 
00032     // from SafeThread
00033     virtual void walk();
00034 
00035     // from Network
00036     virtual void newMixedCommand( const hydrointerfaces::HumanInput2d::Command& command );
00037 
00038     virtual void newIncrementCommand( int longitudinal, int transverse, int angle );
00039     virtual void newRelativeCommand( double longitudinal, double transverse, double angle );
00040 
00041 
00042 protected:
00043 
00044     hydroiceutil::EventQueuePtr events_;
00045 
00046     Display* display_;
00047 
00048     NetworkDriver* driver_;
00049 
00050     // component current context
00051     orcaice::Context context_;
00052 
00053 };
00054 
00055 } // namespace
00056 
00057 #endif
 

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