Fawkes API Fawkes Development Version
remote_bb_poster.cpp
1
2/***************************************************************************
3 * remote_bb_poster.h - Joystick handler writing to remote blackboard
4 *
5 * Created: Sat Jan 29 12:10:53 2011
6 * Copyright 2006-2011 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#include "remote_bb_poster.h"
24
25#include <blackboard/remote.h>
26#include <interfaces/JoystickInterface.h>
27#include <logging/logger.h>
28
29using namespace fawkes;
30
31/** @class JoystickRemoteBlackBoardPoster "remote_bb_poster.h"
32 * Glue to post new data to a RemoteBlackBoard.
33 * @author Tim Niemueller
34 */
35
36/** Constructor.
37 * @param host remote bb host to connect to
38 * @param port remote bb port to connect to
39 * @param logger logger
40 */
42 unsigned short int port,
43 Logger * logger)
44: logger_(logger)
45{
46 bb_ = new RemoteBlackBoard(host, port);
47
48 joystick_if_ = bb_->open_for_writing<JoystickInterface>("Joystick");
49 warning_printed_ = false;
50}
51
52/** Destructor. */
54{
55 bb_->close(joystick_if_);
56 delete bb_;
57}
58
59void
60JoystickRemoteBlackBoardPoster::joystick_changed(unsigned int pressed_buttons, float *axis_values)
61{
62 if (!bb_->is_alive()) {
63 if (bb_->try_aliveness_restore()) {
64 logger_->log_info("Joystick", "Connection re-established, writing data");
65 warning_printed_ = false;
66 }
67 }
68
69 try {
70 joystick_if_->set_pressed_buttons(pressed_buttons);
71 joystick_if_->set_axis(axis_values);
72 joystick_if_->write();
73 } catch (Exception &e) {
74 if (!warning_printed_) {
75 e.print_trace();
76 logger_->log_warn("Joystick",
77 "Lost connection to BlackBoard, "
78 "will try to re-establish");
79 warning_printed_ = true;
80 }
81 }
82}
83
84void
86{
87 joystick_if_->set_num_axes(num_axes);
88 joystick_if_->set_num_buttons(num_buttons);
89 joystick_if_->write();
90}
91
92void
94{
95 joystick_if_->set_num_axes(0);
96 joystick_if_->set_num_buttons(0);
97 joystick_if_->write();
98}
JoystickRemoteBlackBoardPoster(const char *host, unsigned short int port, fawkes::Logger *logger)
Constructor.
virtual void joystick_plugged(char num_axes, char num_buttons)
A (new) joystick has been plugged in.
virtual void joystick_unplugged()
The joystick has been unplugged and is no longer available.
virtual void joystick_changed(unsigned int pressed_buttons, float *axis_values)
Joystick data changed.
virtual bool is_alive() const noexcept=0
Check if the BlackBoard is still alive.
virtual bool try_aliveness_restore() noexcept=0
Try to restore the aliveness of the BlackBoard instance.
virtual Interface * open_for_writing(const char *interface_type, const char *identifier, const char *owner=NULL)=0
Open interface for writing.
virtual void close(Interface *interface)=0
Close interface.
Base class for exceptions in Fawkes.
Definition: exception.h:36
void print_trace() noexcept
Prints trace to stderr.
Definition: exception.cpp:601
void write()
Write from local copy into BlackBoard memory.
Definition: interface.cpp:501
JoystickInterface Fawkes BlackBoard Interface.
void set_pressed_buttons(const uint32_t new_pressed_buttons)
Set pressed_buttons value.
void set_num_axes(const uint8_t new_num_axes)
Set num_axes value.
void set_num_buttons(const uint8_t new_num_buttons)
Set num_buttons value.
void set_axis(unsigned int index, const float new_axis)
Set axis value at given index.
Interface for logging.
Definition: logger.h:42
virtual void log_warn(const char *component, const char *format,...)=0
Log warning message.
virtual void log_info(const char *component, const char *format,...)=0
Log informational message.
Remote BlackBoard.
Definition: remote.h:50
Fawkes library namespace.