Fawkes API  Fawkes Development Version
acquisition_thread.h
00001 
00002 /***************************************************************************
00003  *  acquisition_thread.h - Thread that retrieves the joystick data
00004  *
00005  *  Created: Sat Nov 22 18:10:35 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_ACQUISITION_THREAD_H_
00024 #define __PLUGINS_JOYSTICK_ACQUISITION_THREAD_H_
00025 
00026 #include "bb_handler.h"
00027 
00028 #include <core/threading/thread.h>
00029 #include <aspect/logging.h>
00030 #include <aspect/configurable.h>
00031 
00032 #include <utils/math/types.h>
00033 
00034 #include <string>
00035 #include <vector>
00036 
00037 namespace fawkes {
00038   class Mutex;
00039 }
00040 
00041 class JoystickForceFeedback;
00042 
00043 class JoystickAcquisitionThread
00044 : public fawkes::Thread,
00045   public fawkes::LoggingAspect,
00046   public fawkes::ConfigurableAspect
00047 {
00048  public:
00049   JoystickAcquisitionThread();
00050   JoystickAcquisitionThread(const char *device_file,
00051                             JoystickBlackBoardHandler *handler,
00052                             fawkes::Logger *logger);
00053 
00054   virtual void init();
00055   virtual void finalize();
00056   virtual void loop();
00057 
00058   bool lock_if_new_data();
00059   void unlock();
00060 
00061   char               num_axes() const;
00062   char               num_buttons() const;
00063   const char *       joystick_name() const;
00064   unsigned int       pressed_buttons() const;
00065   float *            axis_values();
00066 
00067   /** Access force feedback of joystick.
00068    * @return instance of JoystickForceFeedback class for current joystick. */
00069   JoystickForceFeedback *  ff() const { return __ff; }
00070 
00071  /** Stub to see name in backtrace for easier debugging. @see Thread::run() */
00072  protected: virtual void run() { Thread::run(); }
00073 
00074  private:
00075   void init(std::string device_file);
00076   void open_joystick();
00077   void open_forcefeedback();
00078 
00079  private:
00080   std::string __cfg_device_file;
00081 
00082   int  __fd;
00083   bool __connected;
00084   unsigned int __axis_array_size;
00085   char __num_axes;
00086   char __num_buttons;
00087   char __joystick_name[128];
00088 
00089   bool            __new_data;
00090   fawkes::Mutex  *__data_mutex;
00091 
00092   unsigned int    __pressed_buttons;
00093   float          *__axis_values;
00094 
00095   JoystickBlackBoardHandler *__bbhandler;
00096   JoystickForceFeedback *__ff;
00097 };
00098 
00099 
00100 #endif