/**
* Copyright (c) 2011 Aldebaran Robotics
*/
#include "bumper.h"
#include <alvalue/alvalue.h>
#include <alcommon/alproxy.h>
#include <alcommon/albroker.h>
#include <qi/log.hpp>
#include <althread/alcriticalsection.h>
Bumper::Bumper(
boost::shared_ptr<AL::ALBroker> broker,
const std::string& name): AL::ALModule(broker, name),
fCallbackMutex(AL::ALMutex::createALMutex())
{
setModuleDescription("This module presents how to subscribe to a simple event (here RightBumperPressed) and use a callback method.");
functionName("onRightBumperPressed", getName(), "Method called when the right bumper is pressed. Makes a LED animation.");
BIND_METHOD(Bumper::onRightBumperPressed)
}
Bumper::~Bumper() {
fMemoryProxy.unsubscribeToEvent("onRightBumperPressed", "Bumper");
}
void Bumper::init() {
try {
/** Create a proxy to ALMemory.
*/
fMemoryProxy = AL::ALMemoryProxy(getParentBroker());
fState = fMemoryProxy.getData("RightBumperPressed");
/** Subscribe to event LeftBumperPressed
* Arguments:
* - name of the event
* - name of the module to be called for the callback
* - name of the bound method to be called on event
*/
fMemoryProxy.subscribeToEvent("RightBumperPressed", "Bumper",
"onRightBumperPressed");
}
catch (const AL::ALError& e) {
qiLogError("module.example") << e.what() << std::endl;
}
}
void Bumper::onRightBumperPressed() {
qiLogInfo("module.example") << "Executing callback method on right bumper event" << std::endl;
/**
* As long as this is defined, the code is thread-safe.
*/
AL::ALCriticalSection section(fCallbackMutex);
/**
* Check that the bumper is pressed.
*/
fState = fMemoryProxy.getData("RightBumperPressed");
if (fState > 0.5f) {
return;
}
try {
fTtsProxy = AL::ALTextToSpeechProxy(getParentBroker());
fTtsProxy.say("Right bumper pressed");
}
catch (const AL::ALError& e) {
qiLogError("module.example") << e.what() << std::endl;
}
}