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

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#ifndef _RANGEFINDER_H
#define _RANGEFINDER_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 RANGEFINDER "RangeFinder"
// IDNUMBER is used to identify data events . IDNUMBER+1 is the info event. this
// system will probably go away soon...
//#define RANGEFINDERIDNUMBER 30

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

        

        
        class RangeFinderInfoStruct {
        public:         Writable< float  > x_offset;
                std::string source;
                Writable< float  > max_range;
                Writable< float  > y_offset;
                Writable< float  > phi_separation;
                std::string target;
                Writable< float  > psi_offset;
                Time timestamp;
                Writable< float  > x_separation;
                Writable< float  > phi_offset;
                Writable< float  > theta_separation;
                Writable< float  > half_angle;
                Writable< float  > psi_separation;
                Writable< float  > y_separation;
                Writable< std::vector< Pose3D > > sensor_positions;
                MessageType mType;
                Writable< bool  > uniform;
                Writable< float  > z_separation;
                Writable< float  > theta_offset;
                Writable< float  > z_offset;
                Writable< float  > angle_min;
        };

        
        class RangeFinderDataStruct {
        public:         std::string source;
                std::vector< double > ranges;
                Time timestamp;
        };
  
        class RangeFinder : virtual public Capability {

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

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

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


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

               
               RangeFinderDataStruct data;    
               
               RangeFinderInfoStruct info;
               
               RangeFinderInfoStruct requests;
               
               //RobotObject imps
               void runUpdate();
               void setManager(CommsManager *myManager_);
               void setCOMObject(COMBase *object){ myCOMObject = dynamic_cast<COMObject<RangeFinderInfoStruct,RangeFinderDataStruct> *> (object);}
               void disconnect(){if(myCOMObject){myCOMObject->disconnect();}}
               void activateSupplier();
               void activateConsumer();
               std::string getInterfaceName(){ return RANGEFINDER;}
               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 RANGEFINDERIDNUMBER;}

               bool getQueueMode(){return m_queue;};

               void setQueueMode(const bool & val);
               
               RangeFinderDataStruct getNextData();
               
               RangeFinderInfoStruct getNextInfo();

               RangeFinderInfoStruct getNextRequest(){return getNextInfo();}

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

               bool m_queue;

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

}


#endif

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