SeaBeeInjector.H

00001 
00002 
00003 #include "Component/ModelManager.H"
00004 #include "Component/OptionManager.H"
00005 
00006 #include "Component/ModelComponent.H"
00007 #include "Component/ModelParam.H"
00008 #include "Media/FrameSeries.H"
00009 #include "Transport/FrameInfo.H"
00010 #include "Raster/GenericFrame.H"
00011 #include "Image/Image.H"
00012 #include "GUI/XWinManaged.H"
00013 #include "GUI/ImageDisplayStream.H"
00014 #include "Image/Image.H"
00015 #include "Image/Pixels.H"
00016 #include "Robots/RobotBrain/RobotBrainComponent.H"
00017 
00018 #include "Ice/RobotBrainObjects.ice.H"
00019 #include "Ice/RobotSimEvents.ice.H"
00020 #include "Ice/IceImageUtils.H"
00021 #include <IceUtil/Thread.h>
00022 
00023 #ifndef SEABEEINJECTOR_H
00024 #define SEABEEINJECTOR_H
00025 
00026 class SeaBeeInjector : public RobotBrainComponent
00027 {
00028 public:
00029 
00030   SeaBeeInjector(int id, OptionManager& mgr,
00031       const std::string& descrName = "MovementController",
00032       const std::string& tagName = "MovementController");
00033 
00034   ~SeaBeeInjector();
00035 
00036   virtual void evolve();
00037 
00038   //!Get a message
00039   virtual void updateMessage(const RobotSimEvents::EventMessagePtr& eMsg,
00040       const Ice::Current&);
00041 
00042   virtual void registerTopics();
00043         void send_message(RobotSimEvents::SeaBeeStateConditionMessagePtr msg, int s, int path, int a, int b, int c, int d, int e, int f, int g, int h, int i);
00044 
00045 private:
00046 
00047   unsigned int itsCurrentState;
00048 };
00049 
00050 #endif