Fawkes API  Fawkes Development Version
button_thread.h
00001 
00002 /***************************************************************************
00003  *  button_thread.h - Provide Nao buttons to Fawkes
00004  *
00005  *  Created: Mon Aug 15 10:48:49 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_NAO_BUTTON_THREAD_H_
00024 #define __PLUGINS_NAO_BUTTON_THREAD_H_
00025 
00026 #include <core/threading/thread.h>
00027 #include <aspect/clock.h>
00028 #include <aspect/logging.h>
00029 #include <aspect/configurable.h>
00030 #include <aspect/blackboard.h>
00031 #include <aspect/blocked_timing.h>
00032 #include <plugins/nao/aspect/naoqi.h>
00033 #include <core/utils/lock_vector.h>
00034 
00035 #include <interfaces/SwitchInterface.h>
00036 
00037 #include <alcommon/alproxy.h>
00038 
00039 #include <vector>
00040 
00041 namespace AL {
00042   class ALAudioPlayerProxy;
00043 }
00044 namespace fawkes {
00045   class NaoSensorInterface;
00046   class SwitchInterface;
00047 }
00048 
00049 class NaoQiButtonThread
00050 : public fawkes::Thread,
00051   public fawkes::LoggingAspect,
00052   public fawkes::ConfigurableAspect,
00053   public fawkes::BlockedTimingAspect,
00054   public fawkes::ClockAspect,
00055   public fawkes::BlackBoardAspect,
00056   public fawkes::NaoQiAspect
00057 {
00058  public:
00059   NaoQiButtonThread();
00060   virtual ~NaoQiButtonThread();
00061 
00062   virtual void init();
00063   virtual void loop();
00064   virtual void finalize();
00065 
00066  /** Stub to see name in backtrace for easier debugging. @see Thread::run() */
00067  protected: virtual void run() { Thread::run(); }
00068 
00069  private:
00070   void set_interface(fawkes::SwitchInterface *switch_if,
00071                      bool enabled, float value, float history,
00072                      unsigned int activations,
00073                      unsigned int short_act, unsigned int long_act);
00074 
00075   void process_messages(fawkes::SwitchInterface *switch_if,
00076                         bool &remote_enabled, float &value);
00077 
00078   void pattern_button_logic(float value, float time_diff_sec,
00079                             bool &enabled, float &history,
00080                             unsigned int &activations,
00081                             unsigned int &short_act, unsigned int &long_act,
00082                             int sound_short, int sound_long);
00083 
00084   void bumpers_logic(float value, float time_diff_sec,
00085                      bool &enabled, float &history,
00086                      unsigned int &activations, int sound_id);
00087 
00088   void process_pattern_button(fawkes::SwitchInterface *switch_if,
00089                               float sensor_value, float time_diff_sec,
00090                               bool &remote_enabled,
00091                               int sound_short = -1, int sound_long = -1);
00092   void process_bumpers(fawkes::SwitchInterface *switch_if,
00093                        float left_value, float right_value,
00094                        float time_diff_sec,
00095                        bool &remote_enabled, int sound_id = -1);
00096 
00097  private:
00098   AL::ALPtr<AL::ALAudioPlayerProxy> __auplayer;
00099 
00100   AL::ALProcessSignals::ProcessSignalConnection __dcm_sigconn;
00101 
00102   fawkes::NaoSensorInterface  *__sensor_if;
00103   fawkes::SwitchInterface     *__chestbut_if;
00104   fawkes::SwitchInterface     *__lfoot_bumper_if;
00105   fawkes::SwitchInterface     *__rfoot_bumper_if;
00106   fawkes::SwitchInterface     *__head_front_if;
00107   fawkes::SwitchInterface     *__head_middle_if;
00108   fawkes::SwitchInterface     *__head_rear_if;
00109 
00110   fawkes::Time now;
00111   fawkes::Time last;
00112 
00113   int __sound_longpling;
00114   int __sound_pling;
00115   int __sound_bumper_left;
00116   int __sound_bumper_right;
00117 
00118   bool __chestbut_remote_enabled;
00119   bool __lfoot_bumper_remote_enabled;
00120   bool __rfoot_bumper_remote_enabled;
00121   bool __head_front_remote_enabled;
00122   bool __head_middle_remote_enabled;
00123   bool __head_rear_remote_enabled;
00124 
00125   unsigned int last_shutdown_actcount;
00126   bool         __cfg_chest_triple_long_click_shutdown;
00127 };
00128 
00129 #endif