Fawkes API
Fawkes Development Version
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00001 00002 /*************************************************************************** 00003 * joystick_thread.h - Robotino joystick thread 00004 * 00005 * Created: Sun Nov 13 23:22:29 2011 00006 * Copyright 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_ROBOTINO_ACT_THREAD_H_ 00024 #define __PLUGINS_ROBOTINO_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 #include <string> 00033 00034 namespace fawkes { 00035 class MotorInterface; 00036 class JoystickInterface; 00037 } 00038 00039 class RobotinoJoystickThread 00040 : public fawkes::Thread, 00041 public fawkes::BlockedTimingAspect, 00042 public fawkes::LoggingAspect, 00043 public fawkes::ConfigurableAspect, 00044 public fawkes::BlackBoardAspect 00045 { 00046 public: 00047 RobotinoJoystickThread(); 00048 00049 virtual void init(); 00050 virtual void loop(); 00051 virtual bool prepare_finalize_user(); 00052 virtual void finalize(); 00053 00054 /** Stub to see name in backtrace for easier debugging. @see Thread::run() */ 00055 protected: virtual void run() { Thread::run(); } 00056 00057 private: 00058 void stop(); 00059 void send_transrot(float vx, float vy, float omega); 00060 00061 private: 00062 fawkes::MotorInterface *motor_if_; 00063 fawkes::JoystickInterface *joystick_if_; 00064 00065 unsigned int cfg_axis_forward_; 00066 unsigned int cfg_axis_sideward_; 00067 unsigned int cfg_axis_rotation_; 00068 float cfg_max_vx_; 00069 float cfg_max_vy_; 00070 float cfg_max_omega_; 00071 }; 00072 00073 00074 #endif