/home/toby/moos-ivp/MOOS-2375-Oct0611/Essentials/pMOOSBridge/MOOSBridge.h

Go to the documentation of this file.

//
//   MOOS - Mission Oriented Operating Suite 
//  
//   A suit of Applications and Libraries for Mobile Robotics Research 
//   Copyright (C) 2001-2005 Massachusetts Institute of Technology and 
//   Oxford University. 
//    
//   This software was written by Paul Newman at MIT 2001-2002 and Oxford 
//   University 2003-2005. email: pnewman@robots.ox.ac.uk. 
//      
//   This file is part of a  MOOS Core Component. 
//        
//   This program is free software; you can redistribute it and/or 
//   modify it under the terms of the GNU General Public License as 
//   published by the Free Software Foundation; either version 2 of the 
//   License, or (at your option) any later version. 
//          
//   This program 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 
//   General Public License for more details. 
//            
//   You should have received a copy of the GNU General Public License 
//   along with this program; if not, write to the Free Software 
//   Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 
//   02111-1307, USA. 
//
#ifndef MOOSBridgeh
#define  MOOSBridgeh

#include <MOOSLIB/MOOSLib.h>
#include "MOOSCommunity.h"

class CMOOSBridge
{
public:

    bool Configure();
    CMOOSBridge();
    virtual ~CMOOSBridge();
    bool Run(const std::string & sMissionFile,const std::string & sMOOSName);

protected:
    CMOOSCommunity * GetOrMakeCommunity(const std::string & sCommunity);
    bool MarshallLoop();
    bool IsUDPShare(CMOOSCommunity::SP & Index);
    
    typedef std::map<std::string,CMOOSCommunity*> COMMUNITY_MAP;
    COMMUNITY_MAP m_Communities;

    CProcessConfigReader m_MissionReader;

    int m_nBridgeFrequency;
    std::string m_sLocalCommunity;

    CMOOSUDPLink m_UDPLink;
    
    std::set< CMOOSCommunity::SP > m_UDPShares;
};

#endif