robot2d.h

/*
 * Orca-Robotics Project: Components for robotics 
 *               http://orca-robotics.sf.net/
 * Copyright (c) 2004-2009 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 HYDRO_INTERFACES_ROBOT2D_H
#define HYDRO_INTERFACES_ROBOT2D_H

#include <hydroutil/context.h>
#include <exception>

namespace hydrointerfaces
{

class SOEXPORT Robot2d
{

public: 

    class Data
    {
    public:
        int seconds;
        int useconds;
        double x;
        double y;
        double yaw;
        double vlong;
        double vtransverse;
        double dyaw;
    
        std::string toString() const;
    };
    
    class Command
    {
    public:
        double vlong;
        double vtransverse;
        double dyaw;
    
        std::string toString() const;
    };

    class Exception : public std::exception
    {
    public:
        Exception(const char *message)
            : message_(message) {}
        Exception(const std::string &message)
            : message_(message) {}
    
        virtual ~Exception() throw() {}
        virtual const char* what() const throw() { return message_.c_str(); }
    
    protected:
    
        std::string  message_;
    };

    virtual ~Robot2d() {}

    virtual void enable()=0;

    virtual bool read( Data &data )=0;
    
    virtual void write( const Command& command )=0;

    virtual void getStatus( std::string &status, bool &isWarn, bool &isFault )=0;

    virtual void applyHardwareLimits( double &maxForwardSpeed, double &maxReverseSpeed, 
                              double &maxTurnrate, double &maxTurnrateAtMaxSpeed )=0;

};

class SOEXPORT Robot2dFactory {
public:
    virtual ~Robot2dFactory() {};
    virtual Robot2d *createDriver( const hydroutil::Context& context ) const=0;
};

} // namespace

// Function for dynamically instantiating drivers.
// A driver must have a function like so:
// extern "C" {
//     hydrointerfaces::Robot2dFactory *createRobot2dDriverFactory();
// }
typedef hydrointerfaces::Robot2dFactory *Robot2dDriverFactoryMakerFunc();

#endif