/home/fwph/code/wurde/rde/core/capabilities/PTUnit.H

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#ifndef _PTUNIT_H
#define _PTUNIT_H
#include <WritableType.H>
#include <Capability.H>
#include <COMObject.H>
#include <queue>
#include <vector>

// $Id: Type.H 66 2007-01-23 20:53:23Z fwph $

#define PTUNIT "PTUnit"
// IDNUMBER is used to identify data events . IDNUMBER+1 is the info event. this
// system will probably go away soon...
//#define PTUNITIDNUMBER 28

namespace WURDE {
        class Capability;
        class CommsManager;
        class Logger;

        

        
        class PTUnitInfoStruct {
        public:         std::string source;
                Writable< float  > pan_upper;
                Writable< float  > pan_accel;
                Writable< float  > tilt_accel;
                Writable< float  > tilt;
                Writable< float  > pan;
                MessageType mType;
                Writable< float  > tilt_upper;
                std::string target;
                Time timestamp;
                Writable< float  > tilt_vel;
                Writable< float  > pan_vel;
        };

        
        class PTUnitDataStruct {
        public:         std::string source;
                Time timestamp;
        };
  
        class PTUnit : virtual public Capability {

        public:
               explicit PTUnit(const std::string & streamname);        

               PTUnit(const ConnectionStrategy & strategy,const std::string & gblName);

               PTUnit(const std::string & streamname,const std::string & gblName);
               
               ~PTUnit();


               void init(const std::string & streamname,const ConnectionStrategy & strategy, const std::string & gblName);

               
               PTUnitDataStruct data;    
               
               PTUnitInfoStruct info;
               
               PTUnitInfoStruct requests;
               
               //RobotObject imps
               void runUpdate();
               void setManager(CommsManager *myManager_);
               void setCOMObject(COMBase *object){ myCOMObject = dynamic_cast<COMObject<PTUnitInfoStruct,PTUnitDataStruct> *> (object);}
               void disconnect(){if(myCOMObject){myCOMObject->disconnect();}}
               void activateSupplier();
               void activateConsumer();
               std::string getInterfaceName(){ return PTUNIT;}
               void setStreamName(const std::string & name);
               void setGlobalName(const std::string & name);
               bool newData();
               bool newInfo();
               void setAutoPing(const bool & val);
               void doPing();
               //              int getID(){return PTUNITIDNUMBER;}

               bool getQueueMode(){return m_queue;};

               void setQueueMode(const bool & val);
               
               PTUnitDataStruct getNextData();
               
               PTUnitInfoStruct getNextInfo();

               PTUnitInfoStruct getNextRequest(){return getNextInfo();}

               void publishData();
               void publishInfo();
               //void publishRequest();
               
        protected:
               COMObject<PTUnitInfoStruct, PTUnitDataStruct> *myCOMObject;

               bool m_queue;

               //notes that the object should be initialized as soon as a streamname is received
               bool m_initialize;
               std::queue<PTUnitDataStruct> m_dataVector;
               std::queue<PTUnitInfoStruct> m_infoVector;
               std::queue<PTUnitInfoStruct> m_requestVector;
        
        };

}


#endif

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