networkdriver.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_DRIVER_H
00012 #define  NETWORK_DRIVER_H
00013 
00014 namespace orcateleop
00015 {
00016 
00017 class NetworkDriver
00018 {
00019 
00020 public:
00021     virtual ~NetworkDriver() {};
00022     
00023     // Returns 0 on success. Does not throw.
00024     virtual int enable() = 0;
00025     
00026     // Returns 0 on success. Does not throw.
00027     virtual int disable() = 0;
00028 
00029     virtual void repeatCommand() = 0;
00030 
00031     virtual void processMixedCommand( double longitudinal, bool isLongIncrement, 
00032         double transverse, bool isTransverseIncrement, 
00033         double angular, bool isAngularIncrement ) = 0;
00034     virtual void processIncrementCommand( int longitudinal, int transverse, int angular ) = 0;
00035     virtual void processRelativeCommand( double longitudinal, double transverse, double angular ) = 0;
00036 
00037 protected:
00038     static void incrementValue( double& value, double delta, double minValue, double maxValue );
00039     static void setValue( double& value, double newValue, double minValue, double maxValue );
00040 };
00041 
00042 } // namespace
00043 
00044 #endif