91 lines
2.7 KiB
C++
91 lines
2.7 KiB
C++
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/*
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* Copyright (C) 2012 Open Source Robotics Foundation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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/* Desc: Fiducial Interface for Player
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* Author: Nate Koenig
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* Date: 2 March 2006
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*/
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#ifndef FIDUCIALINTERFACE_HH
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#define FIDUCIALINTERFACE_HH
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#include "GazeboInterface.hh"
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#include "gazebo/util/system.hh"
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namespace boost
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{
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class GAZEBO_VISIBLE recursive_mutex;
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}
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namespace libgazebo
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{
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/// \addtogroup player_iface
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/// \{
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/// \defgroup fiduacial_player Fiducial Interface
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/// \brief Plugin Player interface for Gazebo fiducials
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/// \{
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// Forward declarations
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class GAZEBO_VISIBLE FiducialIface;
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/// \brief Plugin Player interface for Gazebo fiducials
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class GAZEBO_VISIBLE FiducialInterface : public GazeboInterface
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{
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/// \brief Constructor
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/// \param addr Plaer device address
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/// \param driver The Gazebo driver
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/// \param cf Player config file
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/// \param section Section of the config
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public: FiducialInterface(player_devaddr_t addr, GazeboDriver *driver,
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ConfigFile *cf, int section);
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/// \brief Destructor
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public: virtual ~FiducialInterface();
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/// \brief Handle all messages. This is called from GazeboDriver
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/// \param respQueue Response queue
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/// \param hdr Message header
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/// \param data Pointer to the message data
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public: virtual int ProcessMessage(QueuePointer &respQueue,
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player_msghdr_t *hdr, void *data);
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/// \brief Update this interface, publish new info.
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public: virtual void Update();
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/// \brief Open a SHM interface when a subscription is received.
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/// This is called fromGazeboDriver::Subscribe
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public: virtual void Subscribe();
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/// \brief Close a SHM interface. This is called from
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/// GazeboDriver::Unsubscribe
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public: virtual void Unsubscribe();
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/// \brief The gazebo fiducial interface
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private: FiducialIface *iface;
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/// \brief Gazebo id. This needs to match and ID in a Gazebo WorldFile
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private: char *gz_id;
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/// \brief Timestamp on last data update
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private: double datatime;
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private: player_fiducial_data_t data;
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private: static boost::recursive_mutex *mutex;
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};
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/// \}
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/// \}
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}
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#endif
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