X-lanni
109 lines
3.2 KiB
C++
109 lines
3.2 KiB
C++
/*****************************************************************
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*
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* This file is part of the GMAPPING project
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*
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* GMAPPING Copyright (c) 2004 Giorgio Grisetti,
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* Cyrill Stachniss, and Wolfram Burgard
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*
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* This software is licensed under the "Creative Commons
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* License (Attribution-NonCommercial-ShareAlike 2.0)"
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* and is copyrighted by Giorgio Grisetti, Cyrill Stachniss,
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* and Wolfram Burgard.
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*
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* Further information on this license can be found at:
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* http://creativecommons.org/licenses/by-nc-sa/2.0/
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*
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* GMAPPING is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied
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* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
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* PURPOSE.
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*
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*****************************************************************/
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#ifndef CARMENWRAPPER_H
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#define CARMENWRAPPER_H
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#include <iostream>
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#include <deque>
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#include <pthread.h>
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#include <semaphore.h>
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#include <carmen/carmen.h>
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#include <carmen/global.h>
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#include <sensor/sensor_base/sensor.h>
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#include <log/carmenconfiguration.h>
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#include <log/sensorstream.h>
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#include <log/sensorlog.h>
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#include <sensor/sensor_range/rangesensor.h>
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#include <sensor/sensor_range/rangereading.h>
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namespace GMapping{
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class CarmenWrapper {
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public:
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static void initializeIPC(const char* name);
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static bool start(const char* name);
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static bool isRunning();
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static void lock();
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static void unlock();
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static int registerLocalizationMessages();
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static int queueLength();
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static OrientedPoint getTruePos();
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static bool getReading(RangeReading& reading);
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static void addReading(RangeReading& reading);
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static const SensorMap& sensorMap();
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static bool sensorMapComputed();
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static bool isStopped();
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// conversion function
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static carmen_robot_laser_message reading2carmen(const RangeReading& reading);
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static RangeReading carmen2reading(const carmen_robot_laser_message& msg);
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static carmen_point_t point2carmen (const OrientedPoint& p);
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static OrientedPoint carmen2point (const carmen_point_t& p);
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// carmen interaction
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static void robot_frontlaser_handler(carmen_robot_laser_message* frontlaser);
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static void robot_rearlaser_handler(carmen_robot_laser_message* frontlaser);
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static void simulator_truepos_handler(carmen_simulator_truepos_message* truepos);
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//babsi:
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static void navigator_go_handler(MSG_INSTANCE msgRef, BYTE_ARRAY callData, void*) ;
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static void navigator_stop_handler(MSG_INSTANCE msgRef, BYTE_ARRAY callData, void*) ;
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//babsi:
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static void publish_globalpos(carmen_localize_summary_p summary);
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static void publish_particles(carmen_localize_particle_filter_p filter,
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carmen_localize_summary_p summary);
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static void shutdown_module(int sig);
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private:
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static std::deque<RangeReading> m_rangeDeque;
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static sem_t m_dequeSem;
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static pthread_mutex_t m_mutex, m_lock;
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static pthread_t m_readingThread;
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static void * m_reading_function(void*);
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static bool m_threadRunning;
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static SensorMap m_sensorMap;
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static RangeSensor* m_frontLaser, *m_rearLaser;
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static OrientedPoint m_truepos;
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static bool stopped;
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};
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} //end namespace
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#endif
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/*
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int main (int argc, char** argv) {
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CarmenWrapper::init_carmen(argc, argv);
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while (true) {
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IPC_listenWait(100);
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}
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return 1;
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}
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*/
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