91 lines
2.4 KiB
C++
91 lines
2.4 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: Gazebo Driver 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 GAZEBO_PLAYER_DRIVER_HH
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#define GAZEBO_PLAYER_DRIVER_HH
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#include <unistd.h>
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#include <string.h>
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#include <vector>
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#include "player.h"
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#include "gazebo/util/system.hh"
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extern "C"
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{
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GAZEBO_VISIBLE int player_driver_init(DriverTable *_table);
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}
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/// \addtogroup player
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/// \brief Gazebo player driver
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/// \{
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// Forward declarations
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class GazeboInterface;
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/// \brief Gazebo player driver
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class GAZEBO_VISIBLE GazeboDriver : public Driver
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{
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/// \brief Constructor
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public: GazeboDriver(ConfigFile *_cf, int _section);
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/// \brief Destructor
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public: virtual ~GazeboDriver();
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/// \brief Set up the device. Return 0 if things go well, and -1 otherwise.
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public: virtual int Setup();
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/// \brief Shutdown the device
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public: virtual int Shutdown();
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/// \brief Process all messages for this driver.
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public: virtual int ProcessMessage(QueuePointer &respQueue,
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player_msghdr * hdr,
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void * data);
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/// \brief Subscribe an device to this driver
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public: virtual int Subscribe(player_devaddr_t addr);
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/// \brief Remove a device from this driver
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public: virtual int Unsubscribe(player_devaddr_t addr);
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/// \brief The server thread calls this method frequently.
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/// We use it to check for new commands and configs
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private: virtual void Update();
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/// \brief Helper function to load all devices on startup
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private: int LoadDevices(ConfigFile* cf, int section);
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/// \brief Find a device according to a player_devaddr
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private: GazeboInterface *LookupDevice(player_devaddr_t addr);
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/// Array of interfaces associated with this driver
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protected: std::vector<GazeboInterface *> devices;
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/// \brief Max device count
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protected: int deviceMaxCount;
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};
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/// \}
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#endif
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