src/surveyor_driver.h

/*
 *  Player - One Hell of a Robot Server
 *  Copyright (C) 2007 -  Michael Janssen (original author)
 *  Copyright (C) 2009 -  Carlos Jaramillo (current maintainer)
 *
 *  This program is free software; you can redistribute it and/or modify it
 *  under the terms of the GNU General Public License as published by the Free
 *  Software Foundation; either version 2 of the License, or (at your option)
 *  any later version.
 *
 *  This program is distributed in the hope that it will be useful, but WITHOUT
 *  ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
 *  FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
 *  more details.
 *
 *  You should have received a copy of the GNU General Public License along
 *  with this program; if not, write to the Free Software Foundation, Inc., 51
 *  Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
 *
 */

#ifndef SURVEYOR_DRIVER_H_
#define SURVEYOR_DRIVER_H_

#include <unistd.h>

#include <libplayercore/playercore.h>

#include "surveyor_comms.h"

#define SRVMIN_CYCLE_TIME 200000

class Surveyor : public Driver
{
   public:
      Surveyor(ConfigFile *cf, int section);
      //      ~Surveyor(void);  ///< Destructor

      int
      Setup();

      int
      Shutdown();

      int
      ProcessMessage(QueuePointer & resp_queue, player_msghdr *hdr, void *data);

   private:

      virtual void
      Main();

      const char *portname; 

      player_devaddr_t position_addr; 
      player_devaddr_t camera_addr; 
      player_devaddr_t ir_addr; 
      player_devaddr_t dio_addr; 

      srv1_comm_t *srvdev; 

      player_position2d_cmd_vel_t position_cmd; 
      player_position2d_geom_t pos_geom; 

      int setup_image_mode; 
};

Driver*
Surveyor_Init(ConfigFile *cf, int section);

void
Surveyor_Register(DriverTable *table);

#endif /* SURVEYOR_DRIVER_H_ */

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