jaus++/2.0/include/jaus/mobility/sensors/globalposesensor.h
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00001 00002 00003 00004 00005 00006 00007 00008 00009 00010 00011 00012 00013 00014 00015 00016 00017 00018 00019 00020 00021 00022 00023 00024 00025 00026 00027 00028 00029 00030 00031 00032 00033 00034 00035 00036 00037 00038 00039 00040 00041 #ifndef __JAUS_MOBILITY_GLOBAL_POSE_SENSOR__H 00042 #define __JAUS_MOBILITY_GLOBAL_POSE_SENSOR__H 00043 00044 #include "jaus/core/sensor.h" 00045 #include "jaus/mobility/sensors/querygeomagneticproperty.h" 00046 #include "jaus/mobility/sensors/queryglobalpose.h" 00047 #include "jaus/mobility/sensors/reportglobalpose.h" 00048 #include "jaus/mobility/sensors/reportgeomagneticproperty.h" 00049 #include "jaus/mobility/sensors/setglobalpose.h" 00050 #include "jaus/mobility/sensors/setgeomagneticproperty.h" 00051 00052 namespace JAUS 00053 { 00054 typedef ReportGlobalPose GlobalPose; 00055 00070 class JAUS_MOBILITY_DLL GlobalPoseSensor : public Sensor, public AccessControl::Child 00071 { 00072 public: 00073 const static std::string Name; 00074 // Constructor. 00075 GlobalPoseSensor(const double updateRate = 10); 00076 // Destructor. 00077 virtual ~GlobalPoseSensor(); 00078 // Sensors can always be discovered (overload if you don't want this). 00079 virtual bool IsDiscoverable() const { return true; } 00080 // Called when a command is received, or when sensor needs to update values. 00081 void SetGlobalPose(const JAUS::SetGlobalPose& globalPose); 00082 // Called when when sensor needs to update values. 00083 void SetGlobalPose(const JAUS::GlobalPose& globalPose); 00084 // Called when when sensor needs to update position, orientation, and time. 00085 bool SetGlobalPose(const Wgs& position, 00086 const Point3D& orientation, 00087 const Time& time = Time(true)); 00088 // Called when when sensor needs to update position and time. 00089 bool SetGlobalPosition(const Wgs& position, const Time& time = Time(true)); 00090 // Called when when sensor needs to update orientation and time. 00091 bool SetGlobalOrientation(const Point3D& orientation, const Time& time = Time(true)); 00092 // Called when a command is received or software needs to set the value. 00093 void SetGeomagneticVariation(const double magneticVariation); 00094 // Sets maximum sensor update rate. 00095 bool SetSensorUpdateRate(const double rate); 00096 // Gets the current global pose. 00097 GlobalPose GetGlobalPose() const; 00098 // Gets the current geomagnetic property. 00099 double GetGeomagneticVariation() const; 00100 // Gets the maximum sensor update rate. 00101 double GetSensorUpdateRate() const { return mMaxUpdateRate; } 00102 // Method called when an Event has been signaled, generates an Event message. 00103 virtual bool GenerateEvent(const Events::Subscription& info) const; 00104 // Method called to determine if an Event is supported by the service. 00105 virtual bool IsEventSupported(const Events::Type type, 00106 const double requestedPeriodicRate, 00107 const Message* queryMessage, 00108 double& confirmedPeriodicRate, 00109 std::string& errorMessage) const; 00110 // Method called whenver a message is received. 00111 virtual void Receive(const Message* message); 00112 // Creates messages associated with this service. 00113 virtual Message* CreateMessage(const UShort messageCode) const; 00114 // Prints status to console. 00115 virtual void PrintStatus() const; 00116 private: 00117 void CreateReportFromQuery(const QueryGlobalPose* query, 00118 GlobalPose& report) const; 00119 virtual void CheckServiceSynchronization(const unsigned int timeSinceLastCheckMs); 00120 double mMaxUpdateRate; 00121 double mGeomagneticProperty; 00122 GlobalPose mGlobalPose; 00123 CxUtils::Mutex mGlobalPoseMutex; 00124 }; 00125 } 00126 00127 #endif 00128 /* End of File */
