Fawkes API
Fawkes Development Version
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23 #ifndef _PLUGINS_ROOMBA_THREAD_ROOMBA_500_H_
24 #define _PLUGINS_ROOMBA_THREAD_ROOMBA_500_H_
26 #include "roomba_500.h"
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>
39 class SwitchInterface;
41 class BatteryInterface;
42 class Roomba500Interface;
70 void close_interfaces();
96 std::string cfg_conntype_;
97 std::string cfg_mode_;
98 std::string cfg_device_;
99 std::string cfg_bttype_;
102 bool cfg_query_mode_;
103 bool cfg_play_fanfare_;
105 unsigned int greeting_loop_count_;
107 int battery_percent_;
Mode
Roomba 500 operation mode.
virtual void init()
Initialize the thread.
SwitchInterface Fawkes BlackBoard Interface.
virtual void loop()
Code to execute in the thread.
Roomba500Thread()
Constructor.
Thread aspect to use blocked timing.
Roomba 500 integration thread.
Thread aspect to access to BlackBoard.
Fawkes library namespace.
Thread aspect to log output.
void write_blackboard()
Write data to blackboard.
BatteryInterface Fawkes BlackBoard Interface.
LedInterface Fawkes BlackBoard Interface.
virtual void run()
Stub to see name in backtrace for easier debugging.
Thread class encapsulation of pthreads.
Thread aspect to access configuration data.
Roomba500Interface Fawkes BlackBoard Interface.
Thread aspect that allows to obtain the current time from the clock.
virtual void finalize()
Finalize the thread.