Fawkes API
Fawkes Development Version
roombajoy_thread.h
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/***************************************************************************
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* roombajoy_thread.h - Roomba joystick control thread
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*
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* Created: Sat Jan 29 14:34:11 2011
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* Copyright 2006-2011 Tim Niemueller [www.niemueller.de]
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*
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****************************************************************************/
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/* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU Library General Public License for more details.
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*
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* Read the full text in the LICENSE.GPL file in the doc directory.
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*/
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#ifndef _PLUGINS_ROOMBAJOY_THREAD_H_
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#define _PLUGINS_ROOMBAJOY_THREAD_H_
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#include <aspect/blackboard.h>
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#include <aspect/blocked_timing.h>
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#include <aspect/clock.h>
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#include <aspect/configurable.h>
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#include <aspect/logging.h>
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#include <core/threading/thread.h>
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namespace
fawkes
{
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class
Roomba500Interface;
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class
JoystickInterface;
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}
// namespace fawkes
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class
RoombaJoystickThread
:
public
fawkes::Thread
,
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public
fawkes::BlockedTimingAspect
,
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public
fawkes::LoggingAspect
,
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public
fawkes::ConfigurableAspect
,
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public
fawkes::ClockAspect
,
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public
fawkes::BlackBoardAspect
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{
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public
:
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RoombaJoystickThread
();
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virtual
void
init
();
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virtual
void
finalize
();
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virtual
void
loop
();
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private
:
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void
stop();
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unsigned
int
confval(
const
char
*path,
unsigned
int
default_value);
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/** Stub to see name in backtrace for easier debugging. @see Thread::run() */
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protected
:
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virtual
void
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run
()
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{
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Thread::run();
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}
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private
:
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fawkes::JoystickInterface
* joy_if_;
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fawkes::Roomba500Interface
*roomba500_if_;
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int
last_velo_;
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bool
strong_rumble_;
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bool
weak_rumble_;
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bool
main_brush_enabled_;
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bool
side_brush_enabled_;
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bool
vacuuming_enabled_;
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unsigned
int
cfg_but_main_brush_;
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unsigned
int
cfg_but_side_brush_;
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unsigned
int
cfg_but_vacuuming_;
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unsigned
int
cfg_but_dock_;
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unsigned
int
cfg_but_spot_;
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unsigned
int
cfg_but_mode_;
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unsigned
int
cfg_axis_forward_;
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unsigned
int
cfg_axis_sideward_;
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unsigned
int
cfg_axis_speed_;
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unsigned
int
cfg_min_radius_;
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unsigned
int
cfg_max_radius_;
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unsigned
int
cfg_max_velocity_;
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};
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#endif
RoombaJoystickThread::RoombaJoystickThread
RoombaJoystickThread()
Constructor.
Definition:
roombajoy_thread.cpp:54
RoombaJoystickThread::init
virtual void init()
Initialize the thread.
Definition:
roombajoy_thread.cpp:61
fawkes::BlockedTimingAspect
Definition:
blocked_timing.h:54
RoombaJoystickThread
Definition:
roombajoy_thread.h:37
fawkes::BlackBoardAspect
Definition:
blackboard.h:36
fawkes
fawkes::LoggingAspect
Definition:
logging.h:36
fawkes::Thread
Definition:
thread.h:44
fawkes::ConfigurableAspect
Definition:
configurable.h:36
fawkes::Roomba500Interface
Definition:
Roomba500Interface.h:37
fawkes::ClockAspect
Definition:
clock.h:38
RoombaJoystickThread::loop
virtual void loop()
Code to execute in the thread.
Definition:
roombajoy_thread.cpp:122
RoombaJoystickThread::finalize
virtual void finalize()
Finalize the thread.
Definition:
roombajoy_thread.cpp:115
fawkes::JoystickInterface
Definition:
JoystickInterface.h:37
RoombaJoystickThread::run
virtual void run()
Stub to see name in backtrace for easier debugging.
Definition:
roombajoy_thread.h:58
src
plugins
roomba
roombajoy_thread.h
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