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# /Users/fpy/titan-1-5-MBARI/Mers/Executives/DeductiveController/Rtapi/MR/Stub/MR_callback_stub.h

    00001
    00002 //
    00003 // Copyright (c) 2004           Model-based Embedded and Robotic Systems Group
    00004 // All Rights Reserved          Massachusetts Institute of Technology
    00005 //
    00006 // This software is provided as is. Model-based Embedded and Robotic Systems
    00007 // (MERS) group does not assume any responsibility.
    00008 //
    00009 // Organization:        Model-based Embedded and Robotic Systems Group
    00010 //                                      Massachusetts Institute of Technology
    00011 //
    00013
    00014 #ifndef MR_CALLBACK_STUB_H
    00015 #define MR_CALLBACK_STUB_H
    00016
    00017 #include <Mers/Executives/DeductiveController/Rtapi/RTAPICallback.h>
    00018 #include <Mers/Utils/Containers/intList.h>
    00019 #include <iostream>
    00020
    00021 namespace Mers {
    00022         namespace Executives {
    00023                 namespace DeductiveController {
    00024                         namespace Rtapi {
    00025                                 namespace MR {
    00026                                         namespace Stub {
    00027
    00036                                                 class MR_callback_stub :
    00037                                                         public Mers::Executives::DeductiveController::Rtapi::RTAPICallback
    00038                                                 {
    00039                                                 public:
    00040
    00041                                                         MR_callback_stub(){};
    00042
    00043                                                         // the ME dispatcher will call this function with the results of the
    00044                                                         // last mode estimate
    00045                                                         void post_mode_estimate(Mers::Utils::Containers::intList const &updated_mode_estimate)
    00046                                                         {
    00047                                                                 std::cout << "ME: " << updated_mode_estimate << std::endl;
    00048                                                         };
    00049
    00050                                                         // called with a full set of state updates from ME
    00051                                                         void post_full_state(Mers::Utils::Containers::intList const &full_mode_estimate)
    00052                                                         {
    00053                                                                 std::cout << "ME Full State: " << full_mode_estimate << std::endl;
    00054                                                         };
    00055
    00063                                                         virtual void post_observation(unsigned int varUID, unsigned int valUID)
    00064                                                         {
    00065                                                                 std::cout << "OBS/CMD Update: (" << varUID << " = " << valUID << ")" << std::endl;
    00066                                                         }
    00067
    00068                                                         // The MR interface dispatcher will call this function
    00069                                                         // with the next control message from MR
    00070                                                         void process_next_control_cmd(Mers::Utils::Containers::intList const &commands);
    00071                                                 };
    00072                                         }
    00073                                 }
    00074                         }
    00075                 }
    00076         }
    00077 }
    00078
    00079 #endif