Fawkes API  Fawkes Development Version
sensor_thread.h
00001 
00002 /***************************************************************************
00003  *  sensor_thread.h - Joystick thread that pushes data into the interface
00004  *
00005  *  Created: Sat Nov 22 18:05:01 2008
00006  *  Copyright  2006-2008  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_SENSOR_THREAD_H_
00024 #define __PLUGINS_JOYSTICK_SENSOR_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 
00038 class JoystickSensorThread
00039 : public fawkes::Thread,
00040   public fawkes::BlockedTimingAspect,
00041   public fawkes::LoggingAspect,
00042   public fawkes::ConfigurableAspect,
00043   public fawkes::BlackBoardAspect
00044 {
00045  public:
00046   JoystickSensorThread(JoystickAcquisitionThread *aqt);
00047 
00048   virtual void init();
00049   virtual void finalize();
00050   virtual void loop();
00051 
00052   /** Get joystick interface.
00053    * @return joystick interface */
00054   fawkes::JoystickInterface * joystick_interface() const { return __joystick_if; }
00055 
00056  /** Stub to see name in backtrace for easier debugging. @see Thread::run() */
00057  protected: virtual void run() { Thread::run(); }
00058 
00059  private:
00060   fawkes::JoystickInterface *__joystick_if;
00061 
00062   JoystickAcquisitionThread *__aqt;
00063 };
00064 
00065 
00066 #endif