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server
drivers
ranger
toranger.h
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/*
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* Player - One Hell of a Robot Server
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* Copyright (C) 2000 Brian Gerkey & Kasper Stoy
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* gerkey@usc.edu kaspers@robotics.usc.edu
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*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program; if not, write to the Free Software
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* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*
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*/
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//
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// Desc: Base class for ->ranger interface converter drivers.
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// Author: Geoffrey Biggs
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// Date: 06/05/2007
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//
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#include <libplayercore/playercore.h>
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class
ToRanger
:
public
Driver
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{
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public
:
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ToRanger
(
ConfigFile
* cf,
int
section);
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~
ToRanger
(
void
);
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// Message processor - must be called first by child classes if overridden
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virtual
int
ProcessMessage
(
QueuePointer
&resp_queue,
player_msghdr
*hdr,
void
*data);
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virtual
int
Setup
(
void
);
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virtual
int
Shutdown
(
void
);
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protected
:
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// Ranger interface stuff - should be filled by ProcessMessage()
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player_ranger_geom_t
deviceGeom;
// Geometry of the device
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// Input device
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Device
*inputDevice;
// Input device interface
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player_devaddr_t
inputDeviceAddr;
// Input device address
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};
Last updated 12 September 2005 21:38:45