Fawkes API
Fawkes Development Version
thread_roomba_500.h
1
2
/***************************************************************************
3
* thread_roomba_500.h - Roomba 500 thread
4
*
5
* Created: Sun Jan 02 12:47:35 2011
6
* Copyright 2006-2010 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_ROOMBA_THREAD_ROOMBA_500_H_
24
#define _PLUGINS_ROOMBA_THREAD_ROOMBA_500_H_
25
26
#include "roomba_500.h"
27
28
#include <aspect/blackboard.h>
29
#include <aspect/blocked_timing.h>
30
#include <aspect/clock.h>
31
#include <aspect/configurable.h>
32
#include <aspect/logging.h>
33
#include <aspect/thread_producer.h>
34
#include <core/threading/thread.h>
35
#include <core/utils/refptr.h>
36
37
namespace
fawkes
{
38
class
LedInterface;
39
class
SwitchInterface;
40
class
MotorInterface;
41
class
BatteryInterface;
42
class
Roomba500Interface;
43
}
// namespace fawkes
44
45
class
Roomba500Thread
:
public
fawkes::Thread
,
46
public
fawkes::BlockedTimingAspect
,
47
public
fawkes::LoggingAspect
,
48
public
fawkes::ConfigurableAspect
,
49
public
fawkes::ClockAspect
,
50
public
fawkes::BlackBoardAspect
51
{
52
public
:
53
Roomba500Thread
();
54
55
virtual
void
init
();
56
virtual
void
finalize
();
57
virtual
void
loop
();
58
59
void
write_blackboard
();
60
61
/** Stub to see name in backtrace for easier debugging. @see Thread::run() */
62
protected
:
63
virtual
void
64
run
()
65
{
66
Thread::run();
67
}
68
69
private
:
70
void
close_interfaces();
71
float
led_process(
fawkes::LedInterface
*iface);
72
void
set_mode(
Roomba500::Mode
mode);
73
74
private
:
75
fawkes::LedInterface
* led_if_debris_;
76
fawkes::LedInterface
* led_if_spot_;
77
fawkes::LedInterface
* led_if_dock_;
78
fawkes::LedInterface
* led_if_check_robot_;
79
fawkes::LedInterface
* led_if_clean_color_;
80
fawkes::LedInterface
* led_if_clean_intensity_;
81
fawkes::SwitchInterface
*switch_if_vacuuming_;
82
fawkes::SwitchInterface
*switch_if_but_clean_;
83
fawkes::SwitchInterface
*switch_if_but_spot_;
84
fawkes::SwitchInterface
*switch_if_but_dock_;
85
fawkes::SwitchInterface
*switch_if_but_minute_;
86
fawkes::SwitchInterface
*switch_if_but_hour_;
87
fawkes::SwitchInterface
*switch_if_but_day_;
88
fawkes::SwitchInterface
*switch_if_but_schedule_;
89
fawkes::SwitchInterface
*switch_if_but_clock_;
90
//fawkes::MotorInterface *motor_if_;
91
fawkes::BatteryInterface
* battery_if_;
92
fawkes::Roomba500Interface
*roomba500_if_;
93
94
fawkes::RefPtr<Roomba500>
roomba_;
95
96
std::string cfg_conntype_;
97
std::string cfg_mode_;
98
std::string cfg_device_;
99
std::string cfg_bttype_;
100
bool
cfg_btsave_;
101
bool
cfg_btfast_;
102
bool
cfg_query_mode_;
103
bool
cfg_play_fanfare_;
104
105
unsigned
int
greeting_loop_count_;
106
107
int
battery_percent_;
108
109
class
WorkerThread;
110
WorkerThread *wt_;
111
};
112
113
#endif
Roomba500::Mode
Mode
Roomba 500 operation mode.
Definition:
roomba_500.h:152
Roomba500Thread::init
virtual void init()
Initialize the thread.
Definition:
thread_roomba_500.cpp:169
fawkes::SwitchInterface
Definition:
SwitchInterface.h:39
fawkes::RefPtr< Roomba500 >
Roomba500Thread::loop
virtual void loop()
Code to execute in the thread.
Definition:
thread_roomba_500.cpp:393
Roomba500Thread::Roomba500Thread
Roomba500Thread()
Constructor.
Definition:
thread_roomba_500.cpp:162
fawkes::BlockedTimingAspect
Definition:
blocked_timing.h:56
Roomba500Thread
Definition:
thread_roomba_500.h:45
fawkes::BlackBoardAspect
Definition:
blackboard.h:38
fawkes
fawkes::LoggingAspect
Definition:
logging.h:38
Roomba500Thread::write_blackboard
void write_blackboard()
Write data to blackboard.
Definition:
thread_roomba_500.cpp:557
fawkes::BatteryInterface
Definition:
BatteryInterface.h:39
fawkes::LedInterface
Definition:
LedInterface.h:39
Roomba500Thread::run
virtual void run()
Stub to see name in backtrace for easier debugging.
Definition:
thread_roomba_500.h:64
fawkes::Thread
Definition:
thread.h:45
fawkes::ConfigurableAspect
Definition:
configurable.h:38
fawkes::Roomba500Interface
Definition:
Roomba500Interface.h:39
fawkes::ClockAspect
Definition:
clock.h:40
Roomba500Thread::finalize
virtual void finalize()
Finalize the thread.
Definition:
thread_roomba_500.cpp:367
src
plugins
roomba
thread_roomba_500.h
Generated by
1.8.17