replayers.h

00001 #ifndef ORCALOGFACTORY_REPLAYERS_H
00002 #define ORCALOGFACTORY_REPLAYERS_H
00003 
00004 #include <orcalog/orcalog.h>
00005 #include <orcalogfactory/logreaders.h>
00006 
00007 #include <orcaifaceimpl/camera.h>
00008 #include <orcaifaceimpl/drivebicycle.h>
00009 #include <orcaifaceimpl/gps.h>
00010 #include <orcaifaceimpl/laserscanner2d.h>
00011 #include <orcaifaceimpl/rangescanner2d.h>
00012 #include <orcaifaceimpl/localise2d.h>
00013 #include <orcaifaceimpl/localise3d.h>
00014 #include <orcaifaceimpl/odometry2d.h>
00015 #include <orcaifaceimpl/odometry3d.h>
00016 #include <orcaifaceimpl/power.h>
00017 #include <orcaifaceimpl/wifi.h>
00018 #include <orcaifaceimpl/pathfollower2d.h>
00019 
00020 namespace orcalogfactory {
00021 
00024 
00025 typedef orcalog::GenericReplayer< orcaifaceimpl::CameraImpl,
00026                                   CameraLogReader,
00027                                   orca::ImageDataPtr,
00028                                   orcalog::DescriptionIfaceImplSetup<CameraLogReader,
00029                                                                      orcaifaceimpl::CameraImpl,
00030                                                                      orca::CameraDescriptionPtr> >       CameraReplayer;
00031 
00033 
00034 typedef orcalog::GenericReplayer< orcaifaceimpl::DriveBicycleImpl,
00035                                   DriveBicycleLogReader,
00036                                   orca::DriveBicycleData,
00037                                   orcalog::DescriptionIfaceImplSetup<DriveBicycleLogReader,
00038                                                                      orcaifaceimpl::DriveBicycleImpl,
00039                                                                      orca::VehicleDescription> >       DriveBicycleReplayer;
00040 
00042 
00043 typedef orcalog::GenericReplayer< orcaifaceimpl::GpsImpl,
00044                                   GpsLogReader,
00045                                   orca::GpsData,
00046                                   orcalog::DescriptionIfaceImplSetup<GpsLogReader,
00047                                                                      orcaifaceimpl::GpsImpl,
00048                                                                      orca::GpsDescription> >       GpsReplayer;
00049 
00051 
00052 typedef orcalog::GenericReplayer< orcaifaceimpl::LaserScanner2dImpl,
00053                                   LaserScanner2dLogReader,
00054                                   orca::LaserScanner2dDataPtr,
00055                                   orcalog::DescriptionIfaceImplSetup<LaserScanner2dLogReader,
00056                                                                      orcaifaceimpl::LaserScanner2dImpl,
00057                                                                      orca::RangeScanner2dDescription> > LaserScanner2dReplayer;
00058 
00060 
00061 typedef orcalog::GenericReplayer< orcaifaceimpl::RangeScanner2dImpl,
00062                                   RangeScanner2dLogReader,
00063                                   orca::RangeScanner2dDataPtr,
00064                                   orcalog::DescriptionIfaceImplSetup<RangeScanner2dLogReader,
00065                                                                      orcaifaceimpl::RangeScanner2dImpl,
00066                                                                      orca::RangeScanner2dDescription> > RangeScanner2dReplayer;
00067 
00069 
00070 typedef orcalog::GenericReplayer< orcaifaceimpl::Localise2dImpl,
00071                                   Localise2dLogReader,
00072                                   orca::Localise2dData,
00073                                   orcalog::DescriptionIfaceImplSetup<Localise2dLogReader,
00074                                                                      orcaifaceimpl::Localise2dImpl,
00075                                                                      orca::VehicleGeometryDescriptionPtr> >    Localise2dReplayer;
00076 
00078 
00079 typedef orcalog::GenericReplayer< orcaifaceimpl::Localise3dImpl,
00080                                   Localise3dLogReader,
00081                                   orca::Localise3dData,
00082                                   orcalog::DescriptionIfaceImplSetup<Localise3dLogReader,
00083                                                                      orcaifaceimpl::Localise3dImpl,
00084                                                                      orca::VehicleGeometryDescriptionPtr> >    Localise3dReplayer;
00085 
00087 
00088 typedef orcalog::GenericReplayer< orcaifaceimpl::Odometry2dImpl,
00089                                   Odometry2dLogReader,
00090                                   orca::Odometry2dData,
00091                                   orcalog::DescriptionIfaceImplSetup<Odometry2dLogReader,
00092                                                                      orcaifaceimpl::Odometry2dImpl,
00093                                                                      orca::VehicleDescription> >    Odometry2dReplayer;
00094 
00096 
00097 typedef orcalog::GenericReplayer< orcaifaceimpl::Odometry3dImpl,
00098                                   Odometry3dLogReader,
00099                                   orca::Odometry3dData,
00100                                   orcalog::DescriptionIfaceImplSetup<Odometry3dLogReader,
00101                                                                      orcaifaceimpl::Odometry3dImpl,
00102                                                                      orca::VehicleDescription> >    Odometry3dReplayer;
00103 
00105 
00106 typedef orcalog::GenericReplayer<orcaifaceimpl::PowerImpl,
00107                                  PowerLogReader,
00108                                  orca::PowerData> PowerReplayer;
00109 
00111 
00112 typedef orcalog::GenericReplayer<orcaifaceimpl::WifiImpl,
00113                                  WifiLogReader,
00114                                  orca::WifiData> WifiReplayer;
00115 
00117 
00118 //
00119 // This one is non-standard because the interface is non-standard.
00120 //
00121 class NullPathFollower2dCallback : public orcaifaceimpl::AbstractPathFollowerCallback
00122 {
00123 public:
00124     void setData( const orca::PathFollower2dData &path, bool activateImmediately )
00125         {
00126             std::cout<<"TRACE(replayers.h): Ignoring call: " << __func__ << std::endl;
00127         }
00128     void activateNow()
00129         {
00130             std::cout<<"TRACE(replayers.h): Ignoring call: " << __func__ << std::endl;
00131         }
00132     void setEnabled( bool enabled )
00133         {
00134             std::cout<<"TRACE(replayers.h): Ignoring call: " << __func__ << std::endl;
00135         }
00136     orca::PathFollower2dState getState()
00137         {
00138             std::cout<<"TRACE(replayers.h): Ignoring call: " << __func__ << std::endl;
00139             orca::PathFollower2dState state; return state;
00140         }
00141 };
00142 
00143 class PathFollower2dReplayer : public orcalog::Replayer
00144 {
00145 public:
00146     PathFollower2dReplayer( const orcalog::LogReaderInfo &logReaderInfo )
00147         : logReader_( logReaderInfo )
00148         {}
00149 
00150     void init()
00151         {
00152             logReader_.init();
00153             // IfaceImplSetup( logReader_, iface_ );
00154             iface_ = new orcaifaceimpl::PathFollower2dImpl( callback_,
00155                                                             logReader_.logReaderInfo().context,
00156                                                             logReader_.logReaderInfo().interfaceName );
00157             iface_->initInterface();
00158         }
00159 
00160     void replayData( int index )
00161         {
00162             logReader_.setLogIndex( index );
00163             logReader_.read( data_ );
00164             iface_->localSend( data_ );
00165         }
00166 
00167     std::string toString() const { return logReader_.toString(); }
00168 
00169 protected:
00170 
00171     NullPathFollower2dCallback callback_;
00172     // IceUtil::Handle<IfaceImplType> iface_;
00173     orcaifaceimpl::PathFollower2dImplPtr    iface_;
00174     PathFollower2dLogReader        logReader_;
00175     orca::PathFollower2dData       data_;
00176 };
00177 
00179 
00180 }
00181 
00182 #endif