23 #include <core/plugin.h>
25 #ifdef HAVE_OPENROBOTINO
26 # include "openrobotino_com_thread.h"
28 #ifdef HAVE_ROBOTINO_DIRECT
29 # include "direct_com_thread.h"
31 #include "act_thread.h"
32 #include "sensor_thread.h"
47 std::string cfg_driver = config->
get_string(
"/hardware/robotino/driver");
51 if (cfg_driver ==
"openrobotino") {
52 #ifdef HAVE_OPENROBOTINO
55 throw Exception(
"robotino: driver mode 'openrobotino' not available at compile time");
57 }
else if (cfg_driver ==
"direct") {
58 #ifdef HAVE_ROBOTINO_DIRECT
61 throw Exception(
"robotino: driver mode 'direct' not available at compile time");
64 throw Exception(
"robotino: unknown driver '%s'", cfg_driver.c_str());
66 thread_list.push_back(com_thread);
72 PLUGIN_DESCRIPTION(
"Robotino platform support")
Thread to communicate with Robotino via OpenRobotino API (v1 or v2).
Thread to communicate with Robotino via OpenRobotino API (v1 or v2).
Robotino act hook integration thread.
Virtual base class for thread that communicates with a Robotino.
Plugin to provide Robotino platform support for Fawkes.
RobotinoPlugin(Configuration *config)
Constructor.
Robotino sensor hook integration thread.
Interface for configuration handling.
virtual std::string get_string(const char *path)=0
Get value from configuration which is of type string.
Base class for exceptions in Fawkes.
Fawkes library namespace.