Fawkes API
Fawkes Development Version
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00001 00002 /*************************************************************************** 00003 * act_thread.h - Joystick thread to execute force feedback 00004 * 00005 * Created: Mon Feb 07 19:52:48 2011 00006 * Copyright 2006-2011 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_JOYSTICK_ACT_THREAD_H_ 00024 #define __PLUGINS_JOYSTICK_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 namespace fawkes { 00033 class JoystickInterface; 00034 } 00035 00036 class JoystickAcquisitionThread; 00037 class JoystickSensorThread; 00038 00039 class JoystickActThread 00040 : public fawkes::Thread, 00041 public fawkes::BlockedTimingAspect, 00042 public fawkes::LoggingAspect, 00043 public fawkes::ConfigurableAspect, 00044 public fawkes::BlackBoardAspect 00045 { 00046 public: 00047 class MessageProcessor 00048 { 00049 public: 00050 MessageProcessor(JoystickAcquisitionThread *aqt, 00051 fawkes::JoystickInterface *joystick_if); 00052 00053 void process(); 00054 void process_message(fawkes::Message *msg); 00055 00056 private: 00057 JoystickAcquisitionThread *__aqt; 00058 fawkes::JoystickInterface *__joystick_if; 00059 bool __joystick_connected; 00060 }; 00061 public: 00062 JoystickActThread(JoystickAcquisitionThread *aqt, JoystickSensorThread *senst); 00063 00064 virtual void init(); 00065 virtual void finalize(); 00066 virtual void loop(); 00067 00068 /** Stub to see name in backtrace for easier debugging. @see Thread::run() */ 00069 protected: virtual void run() { Thread::run(); } 00070 00071 private: 00072 fawkes::JoystickInterface *__joystick_if; 00073 00074 JoystickAcquisitionThread *__aqt; 00075 JoystickSensorThread *__senst; 00076 00077 MessageProcessor *__msgproc; 00078 }; 00079 00080 00081 #endif