KbHitTask.h

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// ----------------------------------------------------------------------------
//
// $Id$
//
// Copyright 2008, 2009, 2010, 2011, 2012  Antonio Franchi and Paolo Stegagno    
//
// This file is part of MIP.
//
// MIP is free software: you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
//
// MIP is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with MIP. If not, see <http://www.gnu.org/licenses/>.
//
// Contact info: antonio.franchi@tuebingen.mpg.de stegagno@diag.uniroma1.it
//
// ----------------------------------------------------------------------------





#ifndef __KB_HIT_TASK_H_
#define __KB_HIT_TASK_H_

#include <Task.h>
#include <TaskFactory.h>
#include <MobileRob.h>
#include <Keyboard.h>
#include <termios.h>

using namespace MipResources;

namespace MipTasks{
 
 /* @{ */
 
 class KbHitTask : public Task{
  private:
   static const TaskPlate _plate = KBH_TASK;
 #ifndef MIP_PLATFORM_ARM
   static const long int  _maxDurSec  = 0,      _maxDurUsec     = 50000;
   static const long int  _maxSamplPeriodSec = 1, _maxSamplPeriodUsec = 0;
   static const long int  _minSamplPeriodSec = 0, _minSamplPeriodUsec = 50000;
 #else
   static const long int  _maxDurSec  = 0,      _maxDurUsec     = 20000;
   static const long int  _maxSamplPeriodSec = 1, _maxSamplPeriodUsec = 0;
   static const long int  _minSamplPeriodSec = 0, _minSamplPeriodUsec = 5000;
 #endif
   Keyboard* _keyboard; 
   
   unsigned int _kbhit(Time timeout);
   
  public:
   KbHitTask(ResourcePointers resources,int argc, const char* argv[]);
   
   ~KbHitTask();
   
   TaskPlate getPlate() const {
    return _plate;
   }
   Time getMaxDuration(){
    return Time(_maxDurSec,_maxDurUsec);
   }
   Time getMaxSamplPeriod(){
    return Time(_maxSamplPeriodSec,_maxSamplPeriodUsec);
   }
   Time getMinSamplPeriod(){
    return Time(_minSamplPeriodSec,_minSamplPeriodUsec);
   }
   
   TaskOutputs run();
 };
 
 MIP_REGISTER_STATIC_TASK(KbHitTask)
 
 
 /* @} */
 
};// end namespace MipTasks

#endif