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100644 67 lines (45 sloc) 1.778 kb
7378c1b Final messing
amosteo authored
1
2
3 -- Planner proxy interface
4
5 with Player.Client;
6 with Player.Interfaces;
7 with Player.Types;
8
9
10 package Player.Planner is
11
12 pragma Elaborate_Body;
13
14 type Object is new Interfaces.Object with null record;
15 -- playerc_planner_t *
16
17 procedure Create
18 (This : in out Object;
19 Conn : in Client.Connection_Type;
20 Index : in Natural := 0);
21
22 procedure Subscribe (This : in out Object; Mode : in Access_Modes);
23
24 procedure Unsubscribe (This : in out Object);
25
26 procedure Enable (This : in out Object; Enabled : in Boolean := True);
27
28 -- function Get_Path_Valid (This : in Object) return Boolean;
29 --
30 -- function Get_Path_Done (This : in Object) return Boolean;
31 --
32 -- function Get_Current_Pose (This : in Object) return Pose;
33 --
34 -- function Get_Goal_Location (This : in Object) return Pose;
35 --
36 -- function Get_Current_Waypoint_Location (This : in Object) return Pose;
37 --
38 -- function Get_Current_Waypoint_Index (This : in Object) return Natural;
39 --
40 -- function Get_Waypoint_Count (This : in Object) return Natural;
41 --
42 -- function Get_Waypoints (This : in Object) return Pose_Array;
43
44 procedure Set_Cmd_Pose
45 (This : in Object;
46 X, Y, A : in Double);
47
48 private
49
50 use Interfaces;
51
52 procedure Destroy (This : in out Object);
53
54 procedure Destroy_Handle (This : in Types.Handle);
55 pragma Import (C, Destroy_Handle, "playerc_planner_destroy");
56
57 function Get_Planner_Max_Waypoints return I.C.int;
58 pragma Import (C, Get_Planner_Max_Waypoints);
59
60 procedure Update_Waypoints (This : in Types.Handle);
61 pragma Import (C, Update_Waypoints, "playerc_planner_get_waypoints");
62
63 Enabling : constant array (Boolean) of I.C.Int :=
64 (False => 0, True => 1);
65
66 end Player.Planner;
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