BeoSonar.H

00001 #include "Component/ModelComponent.H"
00002 #include "Component/ModelParam.H"
00003 #include "Media/FrameSeries.H"
00004 #include "Transport/FrameInfo.H"
00005 #include "Raster/GenericFrame.H"
00006 #include "Image/Image.H"
00007 #include "Image/DrawOps.H"
00008 #include "GUI/XWinManaged.H"
00009 #include "GUI/ImageDisplayStream.H"
00010 #include "Robots/RobotBrain/RobotBrainComponent.H"
00011 #include "Util/Timer.H"
00012 #include "Component/ModelParam.H"
00013 #include "Component/ModelOptionDef.H"
00014 
00015 #include "Ice/RobotBrainObjects.ice.H"
00016 #include "Ice/RobotSimEvents.ice.H"
00017 #include <IceUtil/Thread.h>
00018 
00019 #include <vector>
00020 
00021 #include "Devices/Serial.H"
00022 
00023 typedef struct {
00024   double dist,angle;
00025 } sonarData;
00026 
00027 class BeoSonar : public RobotBrainComponent
00028 {
00029 public:
00030 
00031   BeoSonar(int id, OptionManager& mgr,
00032       const std::string& descrName = "BeoSonar",
00033       const std::string& tagName = "BeoSonar");
00034 
00035   ~BeoSonar();
00036 
00037   virtual void evolve();
00038 
00039   //!Get a message
00040   virtual void updateMessage(const RobotSimEvents::EventMessagePtr& eMsg,
00041       const Ice::Current&);
00042 
00043   virtual void registerTopics();
00044 
00045   void plotDists();
00046 
00047   void start3();
00048 
00049 private:
00050   nub::soft_ref<Serial> itsSerial;
00051 
00052   std::vector<sonarData> itsData;
00053   nub::soft_ref<OutputFrameSeries> itsOfs;
00054         Timer itsDisplayTimer;
00055         float itsDisplayUpdateRate;
00056 
00057         OModelParam<std::string> itsSerialDev;
00058 };