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

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#ifndef _ROBOTDRIVE_H
#define _ROBOTDRIVE_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 ROBOTDRIVE "RobotDrive"
// IDNUMBER is used to identify data events . IDNUMBER+1 is the info event. this
// system will probably go away soon...
//#define ROBOTDRIVEIDNUMBER 32

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

        

        
        class RobotDriveInfoStruct {
        public:         std::string source;
                Writable< float  > angularAccel;
                Writable< float  > transAccel;
                Writable< float  > angularLimit;
                Writable< float  > angular;
                MessageType mType;
                Writable< float  > angularDecel;
                Writable< float  > trans;
                std::string target;
                Writable< float  > transDecel;
                Time timestamp;
                Writable< bool  > brake;
                Writable< float  > transLimit;
        };

        
        class RobotDriveDataStruct {
        public:         std::string source;
                Time timestamp;
        };
  
        class RobotDrive : virtual public Capability {

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

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

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


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

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

               bool getQueueMode(){return m_queue;};

               void setQueueMode(const bool & val);
               
               RobotDriveDataStruct getNextData();
               
               RobotDriveInfoStruct getNextInfo();

               RobotDriveInfoStruct getNextRequest(){return getNextInfo();}

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

               bool m_queue;

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

}


#endif

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