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 run()
Code to execute in the thread.
Definition: thread.cpp:918
Thread class encapsulation of pthreads.
Definition: thread.h:42
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
Thread aspect to access configuration data.
Definition: configurable.h:35
MotorInterface Fawkes BlackBoard Interface.