Fawkes API  Fawkes Development Version
joystick_thread.h
00001 
00002 /***************************************************************************
00003  *  joystick_thread.h - Robotino joystick thread
00004  *
00005  *  Created: Sun Nov 13 23:22:29 2011
00006  *  Copyright  2011  Tim Niemueller [www.niemueller.de]
00007  *
00008  ****************************************************************************/
00009 
00010 /*  This program is free software; you can redistribute it and/or modify
00011  *  it under the terms of the GNU General Public License as published by
00012  *  the Free Software Foundation; either version 2 of the License, or
00013  *  (at your option) any later version.
00014  *
00015  *  This program is distributed in the hope that it will be useful,
00016  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
00017  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00018  *  GNU Library General Public License for more details.
00019  *
00020  *  Read the full text in the LICENSE.GPL file in the doc directory.
00021  */
00022 
00023 #ifndef __PLUGINS_ROBOTINO_ACT_THREAD_H_
00024 #define __PLUGINS_ROBOTINO_ACT_THREAD_H_
00025 
00026 #include <core/threading/thread.h>
00027 #include <aspect/blocked_timing.h>
00028 #include <aspect/logging.h>
00029 #include <aspect/configurable.h>
00030 #include <aspect/blackboard.h>
00031 
00032 #include <string>
00033 
00034 namespace fawkes {
00035   class MotorInterface;
00036   class JoystickInterface;
00037 }
00038 
00039 class RobotinoJoystickThread
00040 : public fawkes::Thread,
00041   public fawkes::BlockedTimingAspect,
00042   public fawkes::LoggingAspect,
00043   public fawkes::ConfigurableAspect,
00044   public fawkes::BlackBoardAspect
00045 {
00046  public:
00047   RobotinoJoystickThread();
00048 
00049   virtual void init();
00050   virtual void loop();
00051   virtual bool prepare_finalize_user();
00052   virtual void finalize();
00053 
00054  /** Stub to see name in backtrace for easier debugging. @see Thread::run() */
00055  protected: virtual void run() { Thread::run(); }
00056 
00057  private:
00058   void stop();
00059   void send_transrot(float vx, float vy, float omega);
00060 
00061  private:
00062   fawkes::MotorInterface     *motor_if_;
00063   fawkes::JoystickInterface  *joystick_if_;
00064 
00065   unsigned int cfg_axis_forward_;
00066   unsigned int cfg_axis_sideward_;
00067   unsigned int cfg_axis_rotation_;
00068   float        cfg_max_vx_;
00069   float        cfg_max_vy_;
00070   float        cfg_max_omega_;
00071 };
00072 
00073 
00074 #endif