HawkScanner.H

00001 // File: HawkScanner.H
00002 // Author: Josh Villbrandt <josh.villbrandt@usc.edu>
00003 // Date: April 2010
00004 
00005 #include <string>
00006 #include <vector>
00007 #include <Ice/Ice.h>
00008 #include <urg/UrgCtrl.h>
00009 #include "Util/Timer.H"
00010 #include "Robots/BeoHawk/core/HawkMessages.ice.H"
00011 #include "Robots/BeoHawk/computer/HawkAgent.H"
00012 
00013 #define SCANNER_ADDRESS "/dev/ttyACM0"
00014 #define SCANNER_RESOLUTION (M_PI/512.) // URG-04LX-UG01, radians
00015 
00016 class HawkScanner : public HawkAgent {
00017         public:
00018                 // These functions must be defined in all HawkAgents
00019                 HawkScanner(std::string myName, int argc, char* argv[]);
00020         bool scheduler();
00021         void registerTopics();
00022         void catchMessage(const HawkMessages::MessagePtr& msg, const Ice::Current&);
00023         
00024     private:
00025         // These functions are specific to the individual agents
00026         int refreshPeriod;
00027                 Timer timer;
00028                 qrk::UrgCtrl urg;
00029         void sendScannerMessage();
00030 };