23 #ifndef _PLUGINS_ROOMBAJOY_THREAD_H_ 24 #define _PLUGINS_ROOMBAJOY_THREAD_H_ 26 #include <aspect/blackboard.h> 27 #include <aspect/blocked_timing.h> 28 #include <aspect/clock.h> 29 #include <aspect/configurable.h> 30 #include <aspect/logging.h> 31 #include <core/threading/thread.h> 34 class Roomba500Interface;
35 class JoystickInterface;
54 unsigned int confval(
const char *path,
unsigned int default_value);
73 bool main_brush_enabled_;
74 bool side_brush_enabled_;
75 bool vacuuming_enabled_;
77 unsigned int cfg_but_main_brush_;
78 unsigned int cfg_but_side_brush_;
79 unsigned int cfg_but_vacuuming_;
80 unsigned int cfg_but_dock_;
81 unsigned int cfg_but_spot_;
82 unsigned int cfg_but_mode_;
84 unsigned int cfg_axis_forward_;
85 unsigned int cfg_axis_sideward_;
86 unsigned int cfg_axis_speed_;
88 unsigned int cfg_min_radius_;
89 unsigned int cfg_max_radius_;
90 unsigned int cfg_max_velocity_;
Thread aspect to access to BlackBoard.
Thread aspect that allows to obtain the current time from the clock.
virtual void finalize()
Finalize the thread.
JoystickInterface Fawkes BlackBoard Interface.
Fawkes library namespace.
Thread class encapsulation of pthreads.
Thread aspect to use blocked timing.
virtual void init()
Initialize the thread.
virtual void run()
Stub to see name in backtrace for easier debugging.
Thread aspect to log output.
Roomba500Interface Fawkes BlackBoard Interface.
Thread aspect to access configuration data.
RoombaJoystickThread()
Constructor.
virtual void loop()
Code to execute in the thread.
Roomba joystick control thread.