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
37namespace fawkes {
38class LedInterface;
39class SwitchInterface;
40class MotorInterface;
41class BatteryInterface;
42class Roomba500Interface;
43} // namespace fawkes
44
51{
52public:
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() */
62protected:
63 virtual void
65 {
66 Thread::run();
67 }
68
69private:
70 void close_interfaces();
71 float led_process(fawkes::LedInterface *iface);
72 void set_mode(Roomba500::Mode mode);
73
74private:
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
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
Roomba 500 integration thread.
virtual void loop()
Code to execute in the thread.
virtual void init()
Initialize the thread.
void write_blackboard()
Write data to blackboard.
virtual void finalize()
Finalize the thread.
virtual void run()
Stub to see name in backtrace for easier debugging.
Roomba500Thread()
Constructor.
Mode
Roomba 500 operation mode.
Definition: roomba_500.h:146
BatteryInterface Fawkes BlackBoard Interface.
Thread aspect to access to BlackBoard.
Definition: blackboard.h:34
Thread aspect to use blocked timing.
Thread aspect that allows to obtain the current time from the clock.
Definition: clock.h:34
Thread aspect to access configuration data.
Definition: configurable.h:33
LedInterface Fawkes BlackBoard Interface.
Definition: LedInterface.h:34
Thread aspect to log output.
Definition: logging.h:33
Roomba500Interface Fawkes BlackBoard Interface.
SwitchInterface Fawkes BlackBoard Interface.
Thread class encapsulation of pthreads.
Definition: thread.h:46
Fawkes library namespace.