Pioneer2Connect.h

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/* Copyright (C) 2002 Dominic Letourneau (dominic.letourneau@courrier.usherb.ca)

   This library is free software; you can redistribute it and/or
   modify it under the terms of the GNU Lesser General Public
   License as published by the Free Software Foundation; either
   version 2.1 of the License, or (at your option) any later version.
   
   This library is distributed in the hope that it will be useful,
   but WITHOUT ANY WARRANTY; without even the implied warranty of
   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
   Lesser General Public License for more details.
   
   You should have received a copy of the GNU Lesser General Public
   License along with this library; if not, write to the Free Software
   Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
*/
#ifndef _PIONEER2CONNECT_H_
#define _PIONEER2CONNECT_H_

#include "BufferedNode.h"

namespace RobotFlow {

class Pioneer2Connect : public FD::BufferedNode{

 public:

  Pioneer2Connect(std::string nodeName, FD::ParameterSet params);

  void calculate(int output_id, int count, FD::Buffer &out);

  virtual ~Pioneer2Connect();

 private:

  bool m_isInit;

  int m_filedescriptor;

  int m_outputConnectID;
  
  std::string m_serial_port;

  bool m_motorEnable;
  bool m_frontSonarsEnable;
  bool m_rearSonarsEnable;

};


}//namespace RobotFlow
#endif

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