LaserNavigationTask.h

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// ----------------------------------------------------------------------------
//
// $Id$
//
// Copyright 2008, 2009, 2010, 2011, 2012  Antonio Franchi and Paolo Stegagno    
//
// This file is part of MIP.
//
// MIP 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 3 of the License, or
// (at your option) any later version.
//
// MIP 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 MIP. If not, see <http://www.gnu.org/licenses/>.
//
// Contact info: antonio.franchi@tuebingen.mpg.de stegagno@diag.uniroma1.it
//
// ----------------------------------------------------------------------------







#ifndef __LAS_NAV_TASK_H_
#define __LAS_NAV_TASK_H_

#include <Task.h>
#include <Resource.h>
#include <MobileRob.h>
#include <LaserNavigation.h>
#include <SharedMem.h>

using namespace MipResources;


namespace MipTasks{
 
 /* @{ */
 
 class LaserNavigationSharedMem : public SharedMem{
  public:
   void initSharedMem();
   
   bool doAutoNavigation();
 };
 
 class LaserNavigationTaskOptions : public Options {
  public:
   
   DecimalOption  *multVel;
   
   LaserNavigationTaskOptions();
   
   OptionGroupsType getGroup();
   string getObjectName() const {
    return "LaserNavigationTaskOptions";
   }
 };
 
 class LaserNavigationTask : public Task{
  private:
   static const TaskPlate _plate = LNV_TASK;
   static const long int  _maxDurSec  = 0,      _maxDurUsec = 30000;
   static const long int  _maxSamplPeriodSec = 0, _maxSamplPeriodUsec = 100000;
   static const long int  _minSamplPeriodSec = 0, _minSamplPeriodUsec = 50000;
   
   LaserNavigation *_navigator;
   
   MobileRob*  _mobileRob;
   LaserNavigationSharedMem* _sharedMem;
   
   Scan currScan;
   
   LaserNavigationTaskOptions*  _options;
   Decimal            _multVelCmd;
   
  public:
   LaserNavigationTask(ResourcePointers resources,int argc, const char* argv[]);
   
   ~LaserNavigationTask();
   
   TaskPlate getPlate() const { return _plate; }
   
   Time getMaxDuration(){ return Time(_maxDurSec,_maxDurUsec); }
   
   Time getMaxSamplPeriod(){ return Time(_maxSamplPeriodSec,_maxSamplPeriodUsec); }
   
   Time getMinSamplPeriod(){ return Time(_minSamplPeriodSec,_minSamplPeriodUsec); }
   
   TaskOutputs run();
 };
 
 /* @} */
 
};// end namespace MipTasks

#endif