Fawkes API  Fawkes Development Version
thread_roomba_500.h
00001 
00002 /***************************************************************************
00003  *  thread_roomba_500.h - Roomba 500 thread
00004  *
00005  *  Created: Sun Jan 02 12:47:35 2011
00006  *  Copyright  2006-2010  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_ROOMBA_THREAD_ROOMBA_500_H_
00024 #define __PLUGINS_ROOMBA_THREAD_ROOMBA_500_H_
00025 
00026 #include "roomba_500.h"
00027 
00028 #include <core/threading/thread.h>
00029 #include <aspect/blocked_timing.h>
00030 #include <aspect/logging.h>
00031 #include <aspect/configurable.h>
00032 #include <aspect/clock.h>
00033 #include <aspect/blackboard.h>
00034 #include <aspect/thread_producer.h>
00035 #include <core/utils/refptr.h>
00036 
00037 namespace fawkes {
00038   class LedInterface;
00039   class SwitchInterface;
00040   class MotorInterface;
00041   class BatteryInterface;
00042   class Roomba500Interface;
00043 }
00044 
00045 class Roomba500Thread
00046 : public fawkes::Thread,
00047   public fawkes::BlockedTimingAspect,
00048   public fawkes::LoggingAspect,
00049   public fawkes::ConfigurableAspect,
00050   public fawkes::ClockAspect,
00051   public fawkes::BlackBoardAspect
00052 {
00053  public:
00054   Roomba500Thread();
00055 
00056   virtual void init();
00057   virtual void finalize();
00058   virtual void loop();
00059 
00060   void write_blackboard();
00061 
00062  /** Stub to see name in backtrace for easier debugging. @see Thread::run() */
00063  protected: virtual void run() { Thread::run(); }
00064 
00065  private:
00066   void close_interfaces();
00067   float led_process(fawkes::LedInterface *iface);
00068   void set_mode(Roomba500::Mode mode);
00069 
00070  private:
00071   fawkes::LedInterface       *__led_if_debris;
00072   fawkes::LedInterface       *__led_if_spot;
00073   fawkes::LedInterface       *__led_if_dock;
00074   fawkes::LedInterface       *__led_if_check_robot;
00075   fawkes::LedInterface       *__led_if_clean_color;
00076   fawkes::LedInterface       *__led_if_clean_intensity;
00077   fawkes::SwitchInterface    *__switch_if_vacuuming;
00078   fawkes::SwitchInterface    *__switch_if_but_clean;
00079   fawkes::SwitchInterface    *__switch_if_but_spot;
00080   fawkes::SwitchInterface    *__switch_if_but_dock;
00081   fawkes::SwitchInterface    *__switch_if_but_minute;
00082   fawkes::SwitchInterface    *__switch_if_but_hour;
00083   fawkes::SwitchInterface    *__switch_if_but_day;
00084   fawkes::SwitchInterface    *__switch_if_but_schedule;
00085   fawkes::SwitchInterface    *__switch_if_but_clock;
00086   //fawkes::MotorInterface     *__motor_if;
00087   fawkes::BatteryInterface   *__battery_if;
00088   fawkes::Roomba500Interface *__roomba500_if;
00089 
00090   fawkes::RefPtr<Roomba500>   __roomba;
00091 
00092   std::string  __cfg_conntype;
00093   std::string  __cfg_mode;
00094   std::string  __cfg_device;
00095   std::string  __cfg_bttype;
00096   bool         __cfg_btsave;
00097   bool         __cfg_btfast;
00098   bool         __cfg_query_mode;
00099   bool         __cfg_play_fanfare;
00100 
00101   unsigned int __greeting_loop_count;
00102 
00103   int          __battery_percent;
00104 
00105   class WorkerThread;
00106   WorkerThread *__wt;
00107 };
00108 
00109 #endif