23 #include <core/plugin.h> 25 #ifdef HAVE_OPENROBOTINO 26 # include "openrobotino_com_thread.h" 28 #ifdef HAVE_ROBOTINO_DIRECT 29 # include "direct_com_thread.h" 31 #include "sensor_thread.h" 32 #include "act_thread.h" 48 std::string cfg_driver = config->
get_string(
"/hardware/robotino/driver");
52 if (cfg_driver ==
"openrobotino") {
53 #ifdef HAVE_OPENROBOTINO 56 throw Exception(
"robotino: driver mode 'openrobotino' not available at compile time");
58 }
else if (cfg_driver ==
"direct") {
59 #ifdef HAVE_ROBOTINO_DIRECT 62 throw Exception(
"robotino: driver mode 'direct' not available at compile time");
65 throw Exception(
"robotino: unknown driver '%s'", cfg_driver.c_str());
67 thread_list.push_back(com_thread);
73 PLUGIN_DESCRIPTION(
"Robotino platform support")
Plugin to provide Robotino platform support for Fawkes.
Fawkes library namespace.
Thread to communicate with Robotino via OpenRobotino API (v1 or v2).
Base class for exceptions in Fawkes.
Robotino act hook integration thread.
Virtual base class for thread that communicates with a Robotino.
Thread to communicate with Robotino via OpenRobotino API (v1 or v2).
Robotino sensor hook integration thread.
Interface for configuration handling.
virtual std::string get_string(const char *path)=0
Get value from configuration which is of type string.
RobotinoPlugin(Configuration *config)
Constructor.