Fawkes API
Fawkes Development Version
|
00001 00002 /*************************************************************************** 00003 * led_thread.h - Provide NaoQi LEDs to Fawkes 00004 * 00005 * Created: Thu Jun 30 19:49:00 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_LED_THREAD_H_ 00024 #define __PLUGINS_NAO_LED_THREAD_H_ 00025 00026 #include <core/threading/thread.h> 00027 #include <aspect/logging.h> 00028 #include <aspect/configurable.h> 00029 #include <aspect/blackboard.h> 00030 #include <aspect/blocked_timing.h> 00031 #include <plugins/nao/aspect/naoqi.h> 00032 #include <blackboard/interface_listener.h> 00033 00034 #include <core/utils/lock_multimap.h> 00035 #include <string> 00036 #include <utility> 00037 00038 namespace fawkes { 00039 class LedInterface; 00040 } 00041 namespace AL { 00042 class ALMemoryFastAccess; 00043 } 00044 00045 class NaoQiLedThread 00046 : public fawkes::Thread, 00047 public fawkes::LoggingAspect, 00048 public fawkes::BlockedTimingAspect, 00049 public fawkes::BlackBoardAspect, 00050 public fawkes::ConfigurableAspect, 00051 public fawkes::NaoQiAspect, 00052 public fawkes::BlackBoardInterfaceListener 00053 { 00054 public: 00055 NaoQiLedThread(); 00056 virtual ~NaoQiLedThread(); 00057 00058 virtual void init(); 00059 virtual void loop(); 00060 virtual void finalize(); 00061 00062 /** Stub to see name in backtrace for easier debugging. @see Thread::run() */ 00063 protected: virtual void run() { Thread::run(); } 00064 00065 protected: 00066 bool bb_interface_message_received(fawkes::Interface *interface, 00067 fawkes::Message *message) throw(); 00068 00069 private: 00070 AL::ALPtr<AL::DCMProxy> __dcm; 00071 AL::ALPtr<AL::ALMemoryProxy> __almem; 00072 AL::ALPtr<AL::ALMemoryFastAccess> __memfa; 00073 00074 std::vector<float> __values; 00075 00076 typedef std::multimap<fawkes::LedInterface *, unsigned int> LedMemMap; 00077 LedMemMap __memids; 00078 00079 typedef fawkes::LockMultiMap<fawkes::LedInterface *, std::string> LedMap; 00080 LedMap __leds; 00081 00082 bool __cfg_verbose_face; 00083 std::string __subd_prefix; 00084 }; 00085 00086 #endif