robot2d/netthread.h

/*
 * Orca-Robotics Project: Components for robotics 
 *               http://orca-robotics.sf.net/
 * Copyright (c) 2004-2008 Alex Brooks, Alexei Makarenko, Tobias Kaupp
 *
 * This copy of Orca is licensed to you under the terms described in
 * the LICENSE file included in this distribution.
 *
 */

#ifndef NETWORK_THREAD_H
#define NETWORK_THREAD_H

#include <orcaice/subsystemthread.h>
#include <orcaice/context.h>
#include <gbxsickacfr/gbxiceutilacfr/notify.h>

#include <orcaifaceimpl/odometry2d.h>
#include <orcaifaceimpl/velocitycontrol2d.h>
#include "hwthread.h"

namespace robot2d
{

//
// Handles network interface
//
class NetThread : public orcaice::SubsystemThread,
                  public gbxiceutilacfr::NotifyHandler<orca::VelocityControl2dData>
{
public:

    NetThread( HwThread                      &HwThread,
                const orca::VehicleDescription &descr,
                const orcaice::Context         &context );

    // from NotifyHandler
    virtual void handleData(const orca::VelocityControl2dData& obj);

private:
    // from SubsystemThread
    virtual void initialise();
    virtual void work();

    void limit( hydrointerfaces::Robot2d::Command &cmd );

    // external interfaces
    orcaifaceimpl::Odometry2dImplPtr           odometry2dI_;
    orcaifaceimpl::VelocityControl2dImplPtr    velocityControl2dI_;

    HwThread &HwThread_;

    orca::VehicleDescription descr_;

    double maxSpeed_;
    double maxTurnrate_;

    // component current context
    orcaice::Context context_;
};

} // namespace

#endif