stagedriver.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 STAGE_DRIVER_H
00012 #define STAGE_DRIVER_H
00013 
00014 #include "../driver.h"
00015 
00016 // Player proxies
00017 namespace PlayerCc
00018 {
00019 class PlayerClient;
00020 class SimulationProxy;
00021 }
00022 
00023 namespace simlocaliser
00024 {
00025 
00026 class StageDriver : public Driver
00027 {
00028 public:
00029 
00030     StageDriver( const char *host, int port, const char* id );
00031     //StageDriver( const std::map<std::string,std::string> & props );
00032     virtual ~StageDriver();
00033 
00034     // returns: 0 = success, non-zero = failure
00035     virtual int enable();
00036     virtual int repair();
00037     virtual int disable();
00038 
00039     virtual int read( orca::Localise2dData& position2d );
00040 
00041 
00042 private:
00043 
00044     bool enabled_;
00045     PlayerCc::PlayerClient *robot_;
00046     PlayerCc::SimulationProxy *simulationProxy_;
00047     
00048     char *host_;
00049     int   port_;
00050     char *id_;
00051 };
00052 
00053 } // namespace
00054 
00055 #endif