source: flair-dev/trunk/include/FlairSensorActuator/SimuLaser.h@ 12

// %flair:license{
// This file is part of the Flair framework distributed under the
// CECILL-C License, Version 1.0.
// %flair:license}
/*!
 * \file SimuUs.h
 * \brief Class for a simulation UsRangeFinder
 * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
 * \date 2014/02/07
 * \version 4.0
 */

#ifndef SIMULASER_H
#define SIMULASER_H

#include <LaserRangeFinder.h>
#include <Thread.h>

namespace flair
{
    namespace core
    {
        class SharedMem;
    }
    namespace gui
    {
        class SpinBox;
    }
}

namespace flair
{
namespace sensor
{
    /*! \class SimuUs
    *
    * \brief Class for a simulation UsRangeFinder
    */
    class SimuLaser : public core::Thread, public LaserRangeFinder
    {
        public:
            /*!
            * \brief Constructor
            *
            * Construct a SimuUs. Control part.
            *
            * \param parent parent
            * \param name name
            * \param dev_id device id
            * \param priority priority of the Thread
            */
            SimuLaser(const core::FrameworkManager* parent,std::string name,uint32_t dev_id,uint8_t priority);

            /*!
            * \brief Constructor
            *
            * Construct a SimuUs. Simulation part.\n
            * The Thread of this class should not be run.
            *
            * \param parent parent
            * \param name name
            * \param dev_id device id
            */
            SimuLaser(const core::IODevice* parent,std::string name,uint32_t dev_id);

            /*!
            * \brief Destructor
            *
            */
            ~SimuLaser();

        protected:
            /*!
            * \brief SharedMem to access datas
            *
            */
            core::SharedMem *shmem;

        private:
            /*!
            * \brief Update using provided datas
            *
            * Reimplemented from IODevice.
            *
            * \param data data from the parent to process
            */
            void UpdateFrom(const core::io_data *data){};

            /*!
            * \brief Run function
            *
            * Reimplemented from Thread.
            *
            */
            void Run(void);

            gui::SpinBox *data_rate;
    };
} // end namespace sensor
} // end namespace flair
#endif // SIMULASER_H