wonderwall.h

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/*
 * Sonar2IR Player driver
 */

#ifndef SONAR2IR_H
#define SONAR2IR_H

#ifdef HAVE_CONFIG_H
#include "config.h"
#endif

#include <sys/types.h>
#include <sys/fcntl.h>
#include <stdio.h>
#include <string.h>
#include <unistd.h>

#include <libplayercore/playercore.h>

class Sonar2IR : public Driver 
{
  private:
   // State data
   player_devaddr_t ir_id, sonar_id;
   player_ir_data_t ir_data;
   player_ir_pose_t ir_pose;
   int subscriptions;
   Device *sonar_dev;
   bool republish_data, republish_pose;

   // Handle incoming configuration messages.
   int HandleConfig(MessageQueue *queue, player_msghdr *hdr, void *data);

   // Handle incoming command messages.
   int HandleCommand(player_msghdr *hdr, void *data);

   // Publish state data.
   void PutData(void);

  public:
   Sonar2IR(ConfigFile *cf, int section);
   ~Sonar2IR(void);

   // Thread life-cycle
   void Main();
   int Setup();
   int Shutdown();

   // Message handling
   int Subscribe(player_devaddr_t id);
   int Unsubscribe(player_devaddr_t id);
   int ProcessMessage(MessageQueue *queue, player_msghdr *msghdr, void *data);
};

#endif

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