modeExecutor.h
Go to the documentation of this file.
00001 /****************************************************************
00002  *
00003  * Copyright (c) 2010
00004  *
00005  * Fraunhofer Institute for Manufacturing Engineering   
00006  * and Automation (IPA)
00007  *
00008  * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
00009  *
00010  * Project name: care-o-bot
00011  * ROS stack name: cob_driver
00012  * ROS package name: cob_light
00013  * Description: Switch robots led color by sending data to
00014  * the led-µC over serial connection.
00015  *                                                              
00016  * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
00017  *                      
00018  * Author: Benjamin Maidel, email:benjamin.maidel@ipa.fraunhofer.de
00019  * Supervised by: Benjamin Maidel, email:benjamin.maidel@ipa.fraunhofer.de
00020  *
00021  * Date of creation: August 2012
00022  * ToDo:
00023  *
00024  * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
00025  *
00026  * Redistribution and use in source and binary forms, with or without
00027  * modification, are permitted provided that the following conditions are met:
00028  *
00029  *     * Redistributions of source code must retain the above copyright
00030  *       notice, this list of conditions and the following disclaimer.
00031  *     * Redistributions in binary form must reproduce the above copyright
00032  *       notice, this list of conditions and the following disclaimer in the
00033  *       documentation and/or other materials provided with the distribution.
00034  *     * Neither the name of the Fraunhofer Institute for Manufacturing 
00035  *       Engineering and Automation (IPA) nor the names of its
00036  *       contributors may be used to endorse or promote products derived from
00037  *       this software without specific prior written permission.
00038  *
00039  * This program is free software: you can redistribute it and/or modify
00040  * it under the terms of the GNU Lesser General Public License LGPL as 
00041  * published by the Free Software Foundation, either version 3 of the 
00042  * License, or (at your option) any later version.
00043  * 
00044  * This program is distributed in the hope that it will be useful,
00045  * but WITHOUT ANY WARRANTY; without even the implied warranty of
00046  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00047  * GNU Lesser General Public License LGPL for more details.
00048  * 
00049  * You should have received a copy of the GNU Lesser General Public 
00050  * License LGPL along with this program. 
00051  * If not, see <http://www.gnu.org/licenses/>.
00052  *
00053  ****************************************************************/
00054 
00055 #ifndef MODEEXECUTOR_H
00056 #define MODEEXECUTOR_H
00057 
00058 #include <mode.h>
00059 #include <iColorO.h>
00060 #include <modeFactory.h>
00061 #include <boost/thread.hpp>
00062 #include <boost/lambda/bind.hpp>
00063 
00064 class ModeExecutor
00065 {
00066 public:
00067         ModeExecutor(IColorO* colorO);
00068         ~ModeExecutor();
00069 
00070         void execute(Mode* mode);
00071         void execute(cob_light::LightMode requestMode);
00072 
00073         int getExecutingPriority();
00074         int getExecutingMode();
00075 
00076         void stop();
00077         void resume();
00078 
00079         void setDefaultPriority(int priority);
00080 
00081 private:
00082         void run();
00083 
00084         bool isStopRequested();
00085 
00086         IColorO* _colorO;
00087 
00088         Mode* _activeMode;
00089 
00090         bool _stopRequested;
00091         boost::shared_ptr<boost::thread> _thread_ptr;
00092         boost::mutex _mutex;
00093 
00094         int default_priority;
00095 };
00096 
00097 #endif


cob_light
Author(s): Benjamin Maidel
autogenerated on Sun Oct 5 2014 23:09:07