Fawkes API  Fawkes Development Version
act_thread.h
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