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# /Users/fpy/titan-1-5-MBARI/Mers/Executives/DeductiveController/Rtapi/MR/MR_rtapi.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_RTAPI_H
    00015 #define _MR_RTAPI_H
    00016
    00017 /*
    00018 #include <fstream>
    00019 */
    00020
    00021 #include <Mers/Executives/DeductiveController/Rtapi/ThreadSafeObjectQueue.h>
    00022
    00023 namespace Mers {
    00024         namespace Reconfiguration {
    00025                 namespace Discrete {
    00026                         class MR_connection;
    00027                 }
    00028         }
    00029         namespace Executives {
    00030                 namespace DeductiveController {
    00031                         namespace Rtapi {
    00032
    00033                                 class RTAPICallback;
    00034
    00035                                 namespace MR {
    00036
    00037                                         class MR_dispatcher;
    00038
    00050                                         class MR_rtapi
    00051                                         {
    00052                                         public:
    00053
    00054                                                 // constructors and deconstructors
    00055
    00063                                                 MR_rtapi(Mers::Reconfiguration::Discrete::MR_connection *mr_con, RTAPICallback *mr_callback);
    00067                                                 virtual ~MR_rtapi();
    00068
    00069                                                 // methods
    00075                                                 virtual int queue_state_update(unsigned int state_index,
    00076                                                                                                                                                                          unsigned int value_index);
    00087                                                 virtual int queue_goal(unsigned int goal_var_index,
    00088                                                                                                                                          unsigned int value_index);
    00094                                                 virtual int queue_request_MR(void);
    00095
    00096                                         protected:
    00097
    00098                                                 // variables
    00100                                                 Mers::Executives::DeductiveController::Rtapi::ThreadSafeObjectQueue &thequeue;
    00103                                                 MR_dispatcher *dispatcher;
    00104
    00106                                                 Mers::Reconfiguration::Discrete::MR_connection *themr_con;
    00107
    00110                                                 Mers::Executives::DeductiveController::Rtapi::RTAPICallback *themr_callback;
    00111
    00116                                                 bool active;
    00117                                         };
    00118                                 }
    00119                         }
    00120                 }
    00121         }
    00122 }
    00123
    00124
    00125 #endif