utils/delaymon/mainthread.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 MAIN_THREAD_H
00012 #define MAIN_THREAD_H
00013 
00014 #include <orcaice/subsystemthread.h>
00015 #include <orcaice/context.h>
00016 #include "histogramconsumerImpl.h"
00017 #include <orca/rangescanner2d.h>
00018 
00019 namespace delaymon
00020 {
00021 
00022 typedef HistogramConsumerImpl<orca::RangeScanner2d, orca::RangeScanner2dConsumer,
00023                         orca::RangeScanner2dDataPtr> HistogramRangeScanner2dConsumerImpl;
00024 typedef IceUtil::Handle<HistogramRangeScanner2dConsumerImpl> HistogramRangeScanner2dConsumerImplPtr;
00025 
00026 class MainThread : public orcaice::SubsystemThread
00027 {
00028 public:
00029     MainThread( const orcaice::Context &context );
00030 
00031 private:
00032     // from SubsystemThread
00033     virtual void initialise();
00034 
00035     HistogramRangeScanner2dConsumerImplPtr consumer_;
00036 
00037     orcaice::Context context_;
00038 };
00039 
00040 } // namespace
00041 
00042 #endif