Fawkes API
Fawkes Development Version
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00001 00002 /*************************************************************************** 00003 * roombajoy_thread.h - Roomba joystick control thread 00004 * 00005 * Created: Sat Jan 29 14:34:11 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_ROOMBAJOY_THREAD_H_ 00024 #define __PLUGINS_ROOMBAJOY_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/clock.h> 00031 #include <aspect/blackboard.h> 00032 00033 namespace fawkes { 00034 class Roomba500Interface; 00035 class JoystickInterface; 00036 } 00037 00038 class RoombaJoystickThread 00039 : public fawkes::Thread, 00040 public fawkes::BlockedTimingAspect, 00041 public fawkes::LoggingAspect, 00042 public fawkes::ConfigurableAspect, 00043 public fawkes::ClockAspect, 00044 public fawkes::BlackBoardAspect 00045 { 00046 public: 00047 RoombaJoystickThread(); 00048 00049 virtual void init(); 00050 virtual void finalize(); 00051 virtual void loop(); 00052 00053 private: 00054 void stop(); 00055 unsigned int confval(const char *path, unsigned int default_value); 00056 00057 /** Stub to see name in backtrace for easier debugging. @see Thread::run() */ 00058 protected: virtual void run() { Thread::run(); } 00059 00060 private: 00061 fawkes::JoystickInterface *__joy_if; 00062 fawkes::Roomba500Interface *__roomba500_if; 00063 00064 int __last_velo; 00065 00066 bool __strong_rumble; 00067 bool __weak_rumble; 00068 00069 bool __main_brush_enabled; 00070 bool __side_brush_enabled; 00071 bool __vacuuming_enabled; 00072 00073 unsigned int __cfg_but_main_brush; 00074 unsigned int __cfg_but_side_brush; 00075 unsigned int __cfg_but_vacuuming; 00076 unsigned int __cfg_but_dock; 00077 unsigned int __cfg_but_spot; 00078 unsigned int __cfg_but_mode; 00079 00080 unsigned int __cfg_axis_forward; 00081 unsigned int __cfg_axis_sideward; 00082 unsigned int __cfg_axis_speed; 00083 00084 unsigned int __cfg_min_radius; 00085 unsigned int __cfg_max_radius; 00086 unsigned int __cfg_max_velocity; 00087 }; 00088 00089 #endif