IPCMotionHook.h

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//-*-c++-*-
#ifndef INCLUDED_IPCMotionHook_h_
#define INCLUDED_IPCMotionHook_h_

#include "local/MotionHook.h"
#include <list>

class MessageQueueBase;
class RCRegion;

//! description of IPCMotionHook
class IPCMotionHook : public MotionHook {
public:
  IPCMotionHook(MessageQueueBase& q, MessageQueueBase& pidq) : MotionHook(), mq(q), pidmq(pidq), regions() {}
  virtual ~IPCMotionHook();
  
  virtual bool isConnected() { return true; }
  
  virtual void motionCheck(const float outputs[][NumOutputs]);
  virtual void updatePIDs(const std::vector<PIDUpdate>& pids);
  
protected:
  MessageQueueBase& mq;
  MessageQueueBase& pidmq;

  static unsigned int count; //!< count of created regions
  RCRegion* getRegion();
  typedef std::list<RCRegion* > msgbuf_t; //!< type of collection of shared data regions
  msgbuf_t regions; //!< for efficiency, reuse old buffers -- oldest at front, most recently used at back
};

/*! @file
 * @brief 
 * @author Ethan Tira-Thompson (ejt) (Creator)
 */

#endif