Fawkes API  Fawkes Development Version
act_thread.h
1 
2 /***************************************************************************
3  * act_thread.h - Joystick thread to execute force feedback
4  *
5  * Created: Mon Feb 07 19:52:48 2011
6  * Copyright 2006-2011 Tim Niemueller [www.niemueller.de]
7  *
8  ****************************************************************************/
9 
10 /* This program is free software; you can redistribute it and/or modify
11  * it under the terms of the GNU General Public License as published by
12  * the Free Software Foundation; either version 2 of the License, or
13  * (at your option) any later version.
14  *
15  * This program is distributed in the hope that it will be useful,
16  * but WITHOUT ANY WARRANTY; without even the implied warranty of
17  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
18  * GNU Library General Public License for more details.
19  *
20  * Read the full text in the LICENSE.GPL file in the doc directory.
21  */
22 
23 #ifndef __PLUGINS_JOYSTICK_ACT_THREAD_H_
24 #define __PLUGINS_JOYSTICK_ACT_THREAD_H_
25 
26 #include <core/threading/thread.h>
27 #include <aspect/blocked_timing.h>
28 #include <aspect/logging.h>
29 #include <aspect/configurable.h>
30 #include <aspect/blackboard.h>
31 
32 namespace fawkes {
33  class JoystickInterface;
34 }
35 
38 
40 : public fawkes::Thread,
42  public fawkes::LoggingAspect,
45 {
46  public:
48  {
49  public:
51  fawkes::JoystickInterface *joystick_if);
52 
53  void process();
54  void process_message(fawkes::Message *msg);
55 
56  private:
58  fawkes::JoystickInterface *__joystick_if;
59  bool __joystick_connected;
60  };
61  public:
63 
64  virtual void init();
65  virtual void finalize();
66  virtual void loop();
67 
68  /** Stub to see name in backtrace for easier debugging. @see Thread::run() */
69  protected: virtual void run() { Thread::run(); }
70 
71  private:
72  fawkes::JoystickInterface *__joystick_if;
73 
75  JoystickSensorThread *__senst;
76 
77  MessageProcessor *__msgproc;
78 };
79 
80 
81 #endif
Thread aspect to access to BlackBoard.
Definition: blackboard.h:34
Base class for all messages passed through interfaces in Fawkes BlackBoard.
Definition: message.h:44
JoystickInterface Fawkes BlackBoard Interface.
Joystick force feedback actuation thread.
Definition: act_thread.h:39
Process incoming messages.
Definition: act_thread.h:47
Fawkes library namespace.
virtual void run()
Code to execute in the thread.
Definition: thread.cpp:939
virtual void run()
Stub to see name in backtrace for easier debugging.
Definition: act_thread.h:69
Thread class encapsulation of pthreads.
Definition: thread.h:42
Joystick acqusition thread for Linux joystick API.
Joystick sensor thread.
Definition: sensor_thread.h:38
Thread aspect to use blocked timing.
Thread aspect to log output.
Definition: logging.h:35
Thread aspect to access configuration data.
Definition: configurable.h:35