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 <core/threading/thread.h>
00027 #include <aspect/logging.h>
00028 #include <aspect/configurable.h>
00029 
00030 #include <utils/math/types.h>
00031 
00032 #include <string>
00033 #include <vector>
00034 
00035 namespace fawkes {
00036   class Mutex;
00037 }
00038 
00039 class JoystickBlackBoardHandler
00040 {
00041  public:
00042   virtual ~JoystickBlackBoardHandler();
00043   virtual void joystick_changed(unsigned int pressed_buttons,
00044                                 float *axis_x_values, float *axis_y_values) = 0;
00045   virtual void joystick_plugged(char num_axes, char num_buttons) = 0;
00046   virtual void joystick_unplugged() = 0;
00047 };
00048 
00049 class JoystickAcquisitionThread
00050 : public fawkes::Thread,
00051   public fawkes::LoggingAspect,
00052   public fawkes::ConfigurableAspect
00053 {
00054  public:
00055   JoystickAcquisitionThread();
00056   JoystickAcquisitionThread(const char *device_file,
00057                             JoystickBlackBoardHandler *handler,
00058                             fawkes::Logger *logger);
00059 
00060   virtual void init();
00061   virtual void finalize();
00062   virtual void loop();
00063 
00064   bool lock_if_new_data();
00065   void unlock();
00066 
00067   char               num_axes() const;
00068   char               num_buttons() const;
00069   const char *       joystick_name() const;
00070   unsigned int       pressed_buttons() const;
00071   float *            axis_x_values();
00072   float *            axis_y_values();
00073 
00074  /** Stub to see name in backtrace for easier debugging. @see Thread::run() */
00075  protected: virtual void run() { Thread::run(); }
00076 
00077  private:
00078   void init(std::string device_file);
00079   void open_joystick();
00080 
00081  private:
00082   std::string __cfg_device_file;
00083 
00084   int  __fd;
00085   bool __connected;
00086   unsigned int __axis_array_size;
00087   char __num_axes;
00088   char __num_buttons;
00089   char __joystick_name[128];
00090 
00091   bool            __new_data;
00092   fawkes::Mutex  *__data_mutex;
00093 
00094   unsigned int    __pressed_buttons;
00095   float          *__axis_x_values;
00096   float          *__axis_y_values;
00097 
00098   JoystickBlackBoardHandler *__bbhandler;
00099 };
00100 
00101 
00102 #endif
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