23 #ifndef __PLUGINS_ROOMBA_THREAD_ROOMBA_500_H_
24 #define __PLUGINS_ROOMBA_THREAD_ROOMBA_500_H_
26 #include "roomba_500.h"
28 #include <core/threading/thread.h>
29 #include <aspect/blocked_timing.h>
30 #include <aspect/logging.h>
31 #include <aspect/configurable.h>
32 #include <aspect/clock.h>
33 #include <aspect/blackboard.h>
34 #include <aspect/thread_producer.h>
35 #include <core/utils/refptr.h>
39 class SwitchInterface;
41 class BatteryInterface;
42 class Roomba500Interface;
66 void close_interfaces();
92 std::string __cfg_conntype;
93 std::string __cfg_mode;
94 std::string __cfg_device;
95 std::string __cfg_bttype;
98 bool __cfg_query_mode;
99 bool __cfg_play_fanfare;
101 unsigned int __greeting_loop_count;
103 int __battery_percent;