Fawkes API Fawkes Development Version
acquisition_thread.h
1
2/***************************************************************************
3 * acquisition_thread.h - Thread that retrieves the joystick data
4 *
5 * Created: Sat Nov 22 18:10:35 2008
6 * Copyright 2006-2008 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_JOYSTICK_ACQUISITION_THREAD_H_
24#define _PLUGINS_JOYSTICK_ACQUISITION_THREAD_H_
25
26#include "bb_handler.h"
27
28#include <aspect/configurable.h>
29#include <aspect/logging.h>
30#include <core/threading/thread.h>
31#include <utils/math/types.h>
32
33#include <string>
34#include <vector>
35
36namespace fawkes {
37class Mutex;
38}
39
41
45{
46public:
48 JoystickAcquisitionThread(const char * device_file,
51
52 virtual void init();
53 virtual void finalize();
54 virtual void loop();
55
56 bool lock_if_new_data();
57 void unlock();
58
59 char num_axes() const;
60 char num_buttons() const;
61 const char * joystick_name() const;
62 unsigned int pressed_buttons() const;
63 float * axis_values();
64
65 /** Access force feedback of joystick.
66 * @return instance of JoystickForceFeedback class for current joystick. */
68 ff() const
69 {
70 return ff_;
71 }
72
73 /** Stub to see name in backtrace for easier debugging. @see Thread::run() */
74protected:
75 virtual void
77 {
78 Thread::run();
79 }
80
81private:
82 void init(const std::string &device_file, bool allow_open_fail = false);
83 void open_joystick();
84 void open_forcefeedback();
85
86private:
87 std::string cfg_device_file_;
88 float cfg_retry_interval_;
89 bool cfg_lazy_init_;
90 float cfg_safety_lockout_timeout_;
91 unsigned int cfg_safety_button_mask_;
92 unsigned int cfg_safety_bypass_button_mask_;
93
94 bool safety_combo_[5];
95 bool safety_lockout_;
96
97 int fd_;
98 bool connected_;
99 bool just_connected_;
100 unsigned int axis_array_size_;
101 char num_axes_;
102 char num_buttons_;
103 char joystick_name_[128];
104
105 bool new_data_;
106 fawkes::Mutex *data_mutex_;
107
108 unsigned int pressed_buttons_;
109 float * axis_values_;
110
111 JoystickBlackBoardHandler *bbhandler_;
113};
114
115#endif
Joystick acqusition thread for Linux joystick API.
virtual void finalize()
Finalize the thread.
bool lock_if_new_data()
Lock data if fresh.
JoystickForceFeedback * ff() const
Access force feedback of joystick.
virtual void init()
Initialize the thread.
const char * joystick_name() const
Get joystick name.
virtual void run()
Stub to see name in backtrace for easier debugging.
unsigned int pressed_buttons() const
Pressed buttons.
char num_buttons() const
Get number of buttons.
virtual void loop()
Code to execute in the thread.
char num_axes() const
Get number of axes.
float * axis_values()
Get values for the axes.
Handler class for joystick data.
Definition: bb_handler.h:27
Cause force feedback on a joystick.
Thread aspect to access configuration data.
Definition: configurable.h:33
Interface for logging.
Definition: logger.h:42
Thread aspect to log output.
Definition: logging.h:33
Logger * logger
This is the Logger member used to access the logger.
Definition: logging.h:41
Mutex mutual exclusion lock.
Definition: mutex.h:33
Thread class encapsulation of pthreads.
Definition: thread.h:46
Fawkes library namespace.