mode.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 MODE_H
00056 #define MODE_H
00057 
00058 #include <colorUtils.h>
00059 #include <boost/signals2.hpp>
00060 
00061 class Mode
00062 {
00063 public:
00064         Mode(int priority = 0, double freq = 0, int pulses = 0, double timeout = 0)
00065                 : _priority(priority), _freq(freq), _pulses(pulses), _timeout(timeout),
00066                   _finished(false), _pulsed(0){}
00067         virtual ~Mode(){}
00068 
00069         virtual void execute() = 0;
00070 
00071         virtual std::string getName() = 0;
00072 
00073         bool finished(){ return _finished; }
00074 
00075         void setPriority(int priority){ _priority = priority; }
00076         int getPriority(){ return _priority; }
00077 
00078         void setTimeout(double timeout){ _timeout = timeout; }
00079         double getTimeout(){ return _timeout; }
00080 
00081         void setFrequency(double freq){ _freq = freq; }
00082         double getFrequency(){ return _freq; }
00083 
00084         void setPulses(int pulses){ _pulses = pulses; }
00085         int getPulses(){ return _pulses; }
00086 
00087         int pulsed(){ return _pulsed; }
00088 
00089         void setColor(color::rgba color){ _color = color; }
00090         color::rgba getColor(){ return _color; }
00091 
00092         boost::signals2::signal<void (color::rgba color)>* signalColorReady(){ return &m_sigColorReady; }
00093 
00094 protected:
00095         int _priority;
00096         double _freq;
00097         int _pulses;
00098         double _timeout;
00099         
00100         bool _finished;
00101         int _pulsed;
00102 
00103         color::rgba _color;
00104 
00105         boost::signals2::signal<void (color::rgba color)> m_sigColorReady;
00106 };
00107 
00108 #endif


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