gazebointerface.hh

来自「机器人人3D仿真工具,可以加入到Simbad仿真环境下应用。」· HH 代码 · 共 71 行

/*
 *  Gazebo - Outdoor Multi-Robot Simulator
 *  Copyright (C) 2003  
 *     Nate Koenig & Andrew Howard
 *
 *  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., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
 *
 */
/* Desc: Generic Gazebo Device Inteface for Player
 * Author: Nate Koenig
 * Date: 2 March 2006
 * CVS: $Id: GazeboInterface.hh,v 1.2 2006/03/02 22:24:46 natepak Exp $
 */

#ifndef GAZEBOINTERFACE_HH
#define GAZEBOINTERFACE_HH

#if HAVE_CONFIG_H
  #include <config.h>
#endif

#include <libplayercore/playercore.h>

// Forward declarations
class GazeboDriver;

class GazeboInterface
{
  /// @brief Constructor
  public: GazeboInterface(player_devaddr_t addr, GazeboDriver *driver,
                    ConfigFile *cf, int section);

  /// @brief Destructor
  public: virtual ~GazeboInterface();

  /// @brief Handle all messages. This is called from GazeboDriver
  public: virtual int ProcessMessage(MessageQueue *respQueue,
                                     player_msghdr_t *hdr, void *data) = 0;

  /// @brief Update this interface, publish new info.
  public: virtual void Update() = 0;

  /// @brief Open a SHM interface when a subscription is received. \
  ///        This is called fromGazeboDriver::Subscribe
  public: virtual void Subscribe() = 0;

  /// @brief Close a SHM interface. This is called from \
  ///        GazeboDriver::Unsubscribe
  public: virtual void Unsubscribe() = 0;

  /// @brief Address of the Player Device
  public: player_devaddr_t device_addr;

  /// @brief Driver instance that created this device
  public: GazeboDriver *driver;
};

#endif