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driver.h

/*
 *  Player - One Hell of a Robot Server
 *  Copyright (C) 2000  
 *     Brian Gerkey, Kasper Stoy, Richard Vaughan, & 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
 *
 */

/*
 * $Id: driver.h,v 1.16 2006/02/15 06:48:38 gerkey Exp $
 *  
 *  The virtual class from which all driver classes inherit.  this
 *  defines the API that all drivers must implement.
 */

#ifndef _DRIVER_H
#define _DRIVER_H

#include <pthread.h>

#include <libplayercore/playercommon.h>
#include <libplayercore/message.h>
#include <libplayercore/player.h>

// Forward declarations
class ConfigFile;
class Driver;

class Driver
{
  private:
    pthread_mutex_t accessMutex;

    /* @brief Last error value; useful for returning error codes from
    constructors. */
    int error;

  protected:

    /* @brief Start the driver thread
    
    This method is usually called from the overloaded Setup() method to
    create the driver thread.  This will call Main(). */
    virtual void StartThread(void);

    virtual void StopThread(void);

    static void* DummyMain(void *driver);

    static void DummyMainQuit(void *driver);

    int AddInterface(player_devaddr_t addr);
    
    void SetError(int code) {this->error = code;}

    void Wait() { this->InQueue->Wait(); }
    
  public:
    pthread_t driverthread;
    virtual void Lock(void);
    virtual void Unlock(void);

    MessageQueue* ret_queue;

    void Publish(player_devaddr_t addr, 
                 MessageQueue* queue, 
                 uint8_t type, 
                 uint8_t subtype,
                 void* src=NULL, 
                 size_t len=0,
                 double* timestamp=NULL);

    void Publish(MessageQueue* queue, 
                 player_msghdr_t* hdr,
                 void* src);


    player_devaddr_t device_addr;
        
    int subscriptions;

    int entries;

    bool alwayson;

    MessageQueue* InQueue;

    Driver(ConfigFile *cf, 
           int section, 
           bool overwrite_cmds, 
           size_t queue_maxlen, 
           int interf);

    Driver(ConfigFile *cf, 
           int section,
           bool overwrite_cmds = true, 
           size_t queue_maxlen = PLAYER_MSGQUEUE_DEFAULT_MAXLEN);

    virtual ~Driver();

    int GetError() { return(this->error); }
    
    virtual int Subscribe(player_devaddr_t addr);

    virtual int Unsubscribe(player_devaddr_t addr);

    virtual int Setup() = 0;

    virtual int Shutdown() = 0;

    virtual void Main(void);

    virtual void MainQuit(void);

    void ProcessMessages();
        
    virtual int ProcessMessage(MessageQueue* resp_queue, player_msghdr * hdr, 
                               void * data);

    virtual void Update() 
    {
      if(!this->driverthread)
        this->ProcessMessages();
    }
};


#endif

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Last updated 12 September 2005 21:38:45