jaus++/2.0/include/jaus/mobility/sensors/localposesensor.h

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#ifndef __JAUS_MOBILITY_LOCAL_POSE_SENSOR__H
#define __JAUS_MOBILITY_LOCAL_POSE_SENSOR__H

#include "jaus/mobility/sensors/globalposesensor.h"
#include "jaus/mobility/sensors/querylocalpose.h"
#include "jaus/mobility/sensors/reportlocalpose.h"
#include "jaus/mobility/sensors/setlocalpose.h"


namespace JAUS
{
    typedef ReportLocalPose LocalPose;

    class JAUS_MOBILITY_DLL LocalPoseSensor : public AccessControl::Child,
                                              public Sensor
    {
    public:
        const static std::string Name;  
        // Constructor.
        LocalPoseSensor(const double updateRate = 10);
        // Destructor.
        virtual ~LocalPoseSensor();
        // Called when a command is received, or when sensor needs to update values.
        void SetLocalPose(const JAUS::SetLocalPose& localPose);
        // Called when when sensor needs to update values.
        void SetLocalPose(const JAUS::LocalPose& localPose);
        // Called when when sensor needs to update position, orientation, and time.
        bool SetLocalPose(const Point3D& position,
                          const Point3D& orientation,
                          const Time& time = Time(true));
        // If you have a global pose sensor, this is an easy way to set local pose data.
        bool SetLocalPose(const JAUS::GlobalPose& globalPose);
        // Use this method if you need to set a reference frame for calculating local pose (optional).
        void SetLocalPoseReference(const GlobalPose& globalPose);
        // Called when when sensor needs to update position and time.
        bool SetLocalPosition(const Point3D& position, const Time& time = Time(true));
        // Called when when sensor needs to update orientation and time.
        bool SetLocalOrientation(const Point3D& orientation, const Time& time = Time(true));
        // Called when when sensor needs to update position, orientation, and time.
        bool AddToLocalPose(const Point3D& position,
                            const Point3D& orientation,
                            const Time& time = Time(true));
        // Called when when sensor needs to update position and time.
        bool AddToLocalPosition(const Point3D& position, const Time& time = Time(true));
        // Called when when sensor needs to update orientation and time.
        bool AddtoLocalOrientation(const Point3D& orientation, const Time& time = Time(true));
        // Called when a command is received or software needs to set the value.
        bool SetSensorUpdateRate(const double rate);        
        // Gets the current global pose.
        LocalPose GetLocalPose() const;
        // Gets the reference point in the world coordinate frame (if set or looked up from Global Pose Sensor service).
        GlobalPose GetLocalPoseReference() const;
        // Gets the maximum sensor update rate.
        double GetSensorUpdateRate() const { return mMaxUpdateRate; }
        // Method called when an Event has been signaled, generates an Event message.
        virtual bool GenerateEvent(const Events::Subscription& info) const;
        // Method called to determine if an Event is supported by the service.
        virtual bool IsEventSupported(const Events::Type type,
                                      const double requestedPeriodicRate,
                                      const Message* queryMessage,
                                      double& confirmedPeriodicRate,
                                      std::string& errorMessage) const;
        // By default, the Local Pose Sensor is discoverable to other components (overload to hide).
        virtual bool IsDiscoverable() const { return true; }
        // Method called whenver a message is received.
        virtual void Receive(const Message* message);
        // Creates messages associated with this service.
        virtual Message* CreateMessage(const UShort messageCode) const;
        // Prints status to console.
        virtual void PrintStatus() const;
    private:
        void CreateReportFromQuery(const QueryLocalPose* query, 
                                   ReportLocalPose& report) const;
        virtual void CheckServiceSynchronization(const unsigned int timeSinceLastCheckMs);
        double mMaxUpdateRate;                  
        ReportLocalPose mLocalPose;             
        GlobalPose mGlobalPoseReference;        
        CxUtils::Mutex mLocalPoseMutex;         
    };
}

#endif
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