Fawkes API  Fawkes Development Version
joystick_thread.h
1 
2 /***************************************************************************
3  * joystick_thread.h - Robotino joystick thread
4  *
5  * Created: Sun Nov 13 23:22:29 2011
6  * Copyright 2011 Tim Niemueller [www.niemueller.de]
7  *
8  ****************************************************************************/
9 
10 /* This program is free software; you can redistribute it and/or modify
11  * it under the terms of the GNU General Public License as published by
12  * the Free Software Foundation; either version 2 of the License, or
13  * (at your option) any later version.
14  *
15  * This program is distributed in the hope that it will be useful,
16  * but WITHOUT ANY WARRANTY; without even the implied warranty of
17  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
18  * GNU Library General Public License for more details.
19  *
20  * Read the full text in the LICENSE.GPL file in the doc directory.
21  */
22 
23 #ifndef __PLUGINS_ROBOTINO_ACT_THREAD_H_
24 #define __PLUGINS_ROBOTINO_ACT_THREAD_H_
25 
26 #include <core/threading/thread.h>
27 #include <aspect/blocked_timing.h>
28 #include <aspect/logging.h>
29 #include <aspect/configurable.h>
30 #include <aspect/blackboard.h>
31 
32 #include <string>
33 
34 namespace fawkes {
35  class MotorInterface;
36  class JoystickInterface;
37 }
38 
40 : public fawkes::Thread,
42  public fawkes::LoggingAspect,
45 {
46  public:
48 
49  virtual void init();
50  virtual void loop();
51  virtual bool prepare_finalize_user();
52  virtual void finalize();
53 
54  /** Stub to see name in backtrace for easier debugging. @see Thread::run() */
55  protected: virtual void run() { Thread::run(); }
56 
57  private:
58  void stop();
59  void send_transrot(float vx, float vy, float omega);
60 
61  private:
62  fawkes::MotorInterface *motor_if_;
63  fawkes::JoystickInterface *joystick_if_;
64 
65  unsigned int cfg_axis_forward_;
66  unsigned int cfg_axis_sideward_;
67  unsigned int cfg_axis_rotation_;
68  float cfg_max_vx_;
69  float cfg_max_vy_;
70  float cfg_max_omega_;
71 };
72 
73 
74 #endif
Thread aspect to access to BlackBoard.
Definition: blackboard.h:34
JoystickInterface Fawkes BlackBoard Interface.
Fawkes library namespace.
virtual void init()
Initialize the thread.
Thread class encapsulation of pthreads.
Definition: thread.h:42
virtual void finalize()
Finalize the thread.
virtual void run()
Stub to see name in backtrace for easier debugging.
Thread aspect to use blocked timing.
Robotino act hook integration thread.
Thread aspect to log output.
Definition: logging.h:35
virtual void loop()
Code to execute in the thread.
Thread aspect to access configuration data.
Definition: configurable.h:35
virtual bool prepare_finalize_user()
Prepare finalization user implementation.
MotorInterface Fawkes BlackBoard Interface.
RobotinoJoystickThread()
Constructor.