Fawkes API
Fawkes Development Version
|
00001 00002 /*************************************************************************** 00003 * comm_thread.h - Fawkes RefBox Communication Thread 00004 * 00005 * Created: Sun Apr 19 13:10:29 2009 00006 * Copyright 2009 Tim Niemueller [www.niemueller.de] 00007 * 00008 ****************************************************************************/ 00009 00010 /* This program is free software; you can redistribute it and/or modify 00011 * it under the terms of the GNU General Public License as published by 00012 * the Free Software Foundation; either version 2 of the License, or 00013 * (at your option) any later version. 00014 * 00015 * This program is distributed in the hope that it will be useful, 00016 * but WITHOUT ANY WARRANTY; without even the implied warranty of 00017 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00018 * GNU Library General Public License for more details. 00019 * 00020 * Read the full text in the LICENSE.GPL file in the doc directory. 00021 */ 00022 00023 #ifndef __PLUGINS_REFBOXCOMM_COMM_THREAD_H_ 00024 #define __PLUGINS_REFBOXCOMM_COMM_THREAD_H_ 00025 00026 #include "processor/state_handler.h" 00027 00028 #include <core/threading/thread.h> 00029 #include <aspect/blocked_timing.h> 00030 #include <aspect/logging.h> 00031 #include <aspect/configurable.h> 00032 #include <aspect/blackboard.h> 00033 #include <aspect/blocked_timing.h> 00034 00035 namespace fawkes { 00036 class GameStateInterface; 00037 class SwitchInterface; 00038 #ifdef HAVE_SPL 00039 class SoccerPenaltyInterface; 00040 #endif 00041 } 00042 00043 class RefBoxProcessor; 00044 00045 class RefBoxCommThread 00046 : public fawkes::Thread, 00047 public fawkes::BlockedTimingAspect, 00048 public fawkes::LoggingAspect, 00049 public fawkes::ConfigurableAspect, 00050 public fawkes::BlackBoardAspect, 00051 public RefBoxStateHandler 00052 { 00053 public: 00054 RefBoxCommThread(); 00055 00056 virtual void init(); 00057 virtual void finalize(); 00058 virtual void loop(); 00059 00060 // RefBoxStateHandler 00061 virtual void set_gamestate(int game_state, 00062 fawkes::worldinfo_gamestate_team_t state_team); 00063 virtual void set_score(unsigned int score_cyan, unsigned int score_magenta); 00064 virtual void set_team_goal(fawkes::worldinfo_gamestate_team_t our_team, 00065 fawkes::worldinfo_gamestate_goalcolor_t goal_color); 00066 virtual void set_half(fawkes::worldinfo_gamestate_half_t half, bool kickoff); 00067 virtual void add_penalty(unsigned int penalty, 00068 unsigned int seconds_remaining); 00069 00070 virtual void handle_refbox_state(); 00071 00072 /** Stub to see name in backtrace for easier debugging. @see Thread::run() */ 00073 protected: virtual void run() { Thread::run(); } 00074 00075 private: /* methods */ 00076 00077 private: /* members */ 00078 fawkes::GameStateInterface *__gamestate_if; 00079 #ifdef HAVE_SPL 00080 fawkes::SoccerPenaltyInterface *__penalty_if; 00081 #endif 00082 RefBoxProcessor *__refboxproc; 00083 00084 bool __gamestate_modified; 00085 int __last_gamestate; 00086 fawkes::worldinfo_gamestate_half_t __last_half; 00087 bool __kickoff; 00088 unsigned int __last_score_cyan; 00089 unsigned int __last_score_magenta; 00090 fawkes::worldinfo_gamestate_team_t __our_team; 00091 fawkes::worldinfo_gamestate_goalcolor_t __our_goal_color; 00092 unsigned int __team_number; 00093 unsigned int __player_number; 00094 00095 bool __cfg_beep_on_change; 00096 float __cfg_beep_frequency; 00097 float __cfg_beep_duration; 00098 fawkes::SwitchInterface *__beep_if; 00099 }; 00100 00101 00102 #endif