23 #ifndef __PLUGINS_ROOMBA_THREAD_ROOMBA_500_H_ 24 #define __PLUGINS_ROOMBA_THREAD_ROOMBA_500_H_ 26 #include "roomba_500.h" 28 #include <core/threading/thread.h> 29 #include <aspect/blocked_timing.h> 30 #include <aspect/logging.h> 31 #include <aspect/configurable.h> 32 #include <aspect/clock.h> 33 #include <aspect/blackboard.h> 34 #include <aspect/thread_producer.h> 35 #include <core/utils/refptr.h> 39 class SwitchInterface;
41 class BatteryInterface;
42 class Roomba500Interface;
57 virtual void finalize();
60 void write_blackboard();
66 void close_interfaces();
92 std::string __cfg_conntype;
93 std::string __cfg_mode;
94 std::string __cfg_device;
95 std::string __cfg_bttype;
98 bool __cfg_query_mode;
99 bool __cfg_play_fanfare;
101 unsigned int __greeting_loop_count;
103 int __battery_percent;
Thread aspect to access to BlackBoard.
Thread aspect that allows to obtain the current time from the clock.
Fawkes library namespace.
virtual void run()
Code to execute in the thread.
BatteryInterface Fawkes BlackBoard Interface.
Thread class encapsulation of pthreads.
Worker thread for the Roomba 500 thread.
Mode
Roomba 500 operation mode.
virtual void run()
Stub to see name in backtrace for easier debugging.
Thread aspect to use blocked timing.
SwitchInterface Fawkes BlackBoard Interface.
Roomba 500 integration thread.
Thread aspect to log output.
Roomba500Interface Fawkes BlackBoard Interface.
Thread aspect to access configuration data.
LedInterface Fawkes BlackBoard Interface.