/home/jgoppert/Projects/uvsim/uvsim/src/uvsim/systems/UgvSystem.h

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/*
 * UgvSystem.h
 *
 *  Created on: Apr 26, 2009
 *      Author: jgoppert
 */

#ifndef UGVSYSTEM_H_
#define UGVSYSTEM_H_

#include <uvsim/utilities/RealtimeThread.h>
#include <uvsim/sensing/Imu6DofSensor.h>
#include <uvsim/control/ControlComm.h>
#include <uvsim/navigation/Ins.h>
#include <uvsim/utilities/utilities.h>
#include <iostream>


namespace uvsim
{

class VisionThread: public RealtimeThread
{
public:
    VisionThread(const char * port, float freq, int priority);
    virtual void loop();
    virtual ~VisionThread();
};

enum ControlMode {AUTO, MANUAL};

class ControlThread: public RealtimeThread
{
private:
    ControlComm * m_controlComm;
    ControlMode m_mode;
public:
    ControlThread(std::string port, float freq, int priority, bool useJoystick);
    virtual void loop();
    ControlMode getControlMode()
    {
        return m_mode;
    }
    void setControlMode(ControlMode mode)
    {
        m_mode = mode;
    }
    virtual ~ControlThread();
};

class NavigationThread: public RealtimeThread
{
private:
    Imu6DofSensor * imu;
    Ins * ins;
public:
    NavigationThread(const char * port, float freq, int priority);
    virtual void loop();
    virtual ~NavigationThread();
};

class UgvSystem
{
public:
    UgvSystem(const char * visionPort, float visionFreq, int visionPriority,
              const char * controlPort, float controlFreq, int controlPriority,
              bool useJoystick, const char * navigationPort,
              float navigationFreq, int navigationPriority);
    UgvSystem();
    virtual ~UgvSystem();
    void run();

    // get functions
    VisionThread * getVisionThread()
    {
        return m_visionThread;
    }
    ControlThread * getControlThread()
    {
        return m_controlThread;
    }
    NavigationThread * getNavigationThread()
    {
        return m_navigationThread;
    }

    // set functions
    void setVisionThread(VisionThread * thread)
    {
        m_visionThread = thread;
    }
    void setControlThread(ControlThread * thread)
    {
        m_controlThread = thread;
    }
    void setNavigationThread(NavigationThread * thread)
    {
        m_navigationThread = thread;
    }


private:
    VisionThread * m_visionThread;
    ControlThread * m_controlThread;
    NavigationThread * m_navigationThread;
};

}

#endif /* UGVSYSTEM_H_ */

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