Fawkes API
Fawkes Development Version
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OpenRAVE Thread. More...
#include "openrave_thread.h"
Public Member Functions | |
OpenRaveThread () | |
Constructor. More... | |
virtual | ~OpenRaveThread () |
Destructor. More... | |
virtual void | init () |
Initialize the thread. More... | |
virtual void | loop () |
Code to execute in the thread. More... | |
virtual void | finalize () |
Finalize the thread. More... | |
virtual fawkes::OpenRaveEnvironment * | get_environment () const |
Get pointer to OpenRaveEnvironment object. More... | |
virtual fawkes::OpenRaveRobot * | get_active_robot () const |
Get pointer to currently used OpenRaveRobot object. More... | |
virtual void | set_active_robot (fawkes::OpenRaveRobot *robot) |
Set robot to be used. More... | |
virtual fawkes::OpenRaveRobot * | add_robot (const std::string &filename_robot, bool autogenerate_IK) |
Add a new robot to the environment, and set it as the currently active one. More... | |
virtual void | set_manipulator (fawkes::OpenRaveManipulator *manip, float trans_x=0.f, float trans_y=0.f, float trans_z=0.f, bool calibrate=0) |
Set OpenRaveManipulator object for robot, and calculate coordinate-system offsets or set them directly. More... | |
virtual void | set_manipulator (fawkes::OpenRaveRobot *robot, fawkes::OpenRaveManipulator *manip, float trans_x=0.f, float trans_y=0.f, float trans_z=0.f, bool calibrate=0) |
Set OpenRaveManipulator object for robot, and calculate coordinate-system offsets or set them directly. More... | |
virtual void | start_viewer () const |
Start Viewer. More... | |
virtual void | run_planner (fawkes::OpenRaveRobot *=NULL, float sampling=0.01f) |
Run planner on previously set target. More... | |
virtual void | run_graspplanning (const std::string &target_name, fawkes::OpenRaveRobot *robot=NULL) |
Run graspplanning script for a given target. More... | |
virtual bool | add_object (const std::string &name, const std::string &filename) |
Add an object to the environment. More... | |
virtual bool | delete_object (const std::string &name) |
Remove object from environment. More... | |
virtual bool | rename_object (const std::string &name, const std::string &new_name) |
Rename object. More... | |
virtual bool | move_object (const std::string &name, float trans_x, float trans_y, float trans_z, fawkes::OpenRaveRobot *robot=NULL) |
Move object in the environment. More... | |
virtual bool | rotate_object (const std::string &name, float quat_x, float quat_y, float quat_z, float quat_w) |
Rotate object by a quaternion. More... | |
virtual bool | rotate_object (const std::string &name, float rot_x, float rot_y, float rot_z) |
Rotate object along its axis. More... | |
virtual bool | set_target_object (const std::string &name, fawkes::OpenRaveRobot *robot, float rot_x=0) |
Set an object as the target. More... | |
virtual bool | attach_object (const std::string &name, fawkes::OpenRaveRobot *robot=NULL) |
Attach a kinbody to the robot. More... | |
virtual bool | release_object (const std::string &name, fawkes::OpenRaveRobot *robot=NULL) |
Release a kinbody from the robot. More... | |
virtual bool | release_all_objects (fawkes::OpenRaveRobot *robot=NULL) |
Release all grabbed kinbodys from the robot. More... | |
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virtual | ~Thread () |
Virtual destructor. More... | |
bool | prepare_finalize () |
Prepare finalization. More... | |
virtual bool | prepare_finalize_user () |
Prepare finalization user implementation. More... | |
void | cancel_finalize () |
Cancel finalization. More... | |
void | start (bool wait=true) |
Call this method to start the thread. More... | |
void | cancel () |
Cancel a thread. More... | |
void | join () |
Join the thread. More... | |
void | detach () |
Detach the thread. More... | |
void | kill (int sig) |
Send signal to a thread. More... | |
bool | operator== (const Thread &thread) |
Check if two threads are the same. More... | |
void | wakeup () |
Wake up thread. More... | |
void | wakeup (Barrier *barrier) |
Wake up thread and wait for barrier afterwards. More... | |
void | wait_loop_done () |
Wait for the current loop iteration to finish. More... | |
OpMode | opmode () const |
Get operation mode. More... | |
pthread_t | thread_id () const |
Get ID of thread. More... | |
bool | started () const |
Check if thread has been started. More... | |
bool | cancelled () const |
Check if thread has been cancelled. More... | |
bool | detached () const |
Check if thread has been detached. More... | |
bool | running () const |
Check if the thread is running. More... | |
bool | waiting () const |
Check if thread is currently waiting for wakeup. More... | |
const char * | name () const |
Get name of thread. More... | |
void | set_flags (uint32_t flags) |
Set all flags in one go. More... | |
void | set_flag (uint32_t flag) |
Set flag for the thread. More... | |
void | unset_flag (uint32_t flag) |
Unset flag. More... | |
bool | flagged_bad () const |
Check if FLAG_BAD was set. More... | |
void | set_delete_on_exit (bool del) |
Set whether the thread should be deleted on exit. More... | |
void | set_prepfin_hold (bool hold) |
Hold prepare_finalize(). More... | |
void | add_notification_listener (ThreadNotificationListener *notification_listener) |
Add notification listener. More... | |
void | remove_notification_listener (ThreadNotificationListener *notification_listener) |
Remove notification listener. More... | |
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BlockedTimingAspect (WakeupHook wakeup_hook) | |
Constructor. More... | |
virtual | ~BlockedTimingAspect () |
Virtual empty destructor. More... | |
WakeupHook | blockedTimingAspectHook () const |
Get the wakeup hook. More... | |
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const std::list< const char * > & | get_aspects () const |
Get list of aspect names attached to a aspected thread. More... | |
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LoggingAspect () | |
Constructor. More... | |
virtual | ~LoggingAspect () |
Virtual empty Destructor. More... | |
void | init_LoggingAspect (Logger *logger) |
Set the logger. More... | |
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ConfigurableAspect () | |
Constructor. More... | |
virtual | ~ConfigurableAspect () |
Virtual empty Destructor. More... | |
void | init_ConfigurableAspect (Configuration *config) |
Set the configuration It is guaranteed that this is called for a configurable thread before Thread::start() is called (when running regularly inside Fawkes). More... | |
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AspectProviderAspect (const char *aspect_name, AspectIniFin *inifin) | |
Constructor. More... | |
virtual | ~AspectProviderAspect () |
Virtual empty destructor. More... | |
const char * | aspect_provider_name () const |
Get name of the provided aspect. More... | |
AspectIniFin * | aspect_provider_inifin () const |
Get initializer/finalizer for the provided aspect. More... | |
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virtual | ~OpenRaveConnector () |
Virtual empty destructor. More... | |
Protected Member Functions | |
virtual void | run () |
Stub to see name in backtrace for easier debugging. More... | |
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Thread (const char *name) | |
Constructor. More... | |
Thread (const char *name, OpMode op_mode) | |
Constructor. More... | |
void | exit () |
Exit the thread. More... | |
void | test_cancel () |
Set cancellation point. More... | |
void | yield () |
Yield the processor to another thread or process. More... | |
void | set_opmode (OpMode op_mode) |
Set operation mode. More... | |
void | set_prepfin_conc_loop (bool concurrent=true) |
Set concurrent execution of prepare_finalize() and loop(). More... | |
void | set_coalesce_wakeups (bool coalesce=true) |
Set wakeup coalescing. More... | |
void | set_name (const char *format,...) |
Set name of thread. More... | |
virtual void | once () |
Execute an action exactly once. More... | |
bool | wakeup_pending () |
Check if wakeups are pending. More... | |
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void | add_aspect (const char *name) |
Add an aspect to a thread. More... | |
Additional Inherited Members | |
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enum | OpMode { OPMODE_CONTINUOUS, OPMODE_WAITFORWAKEUP } |
Thread operation mode. More... | |
enum | CancelState { CANCEL_ENABLED, CANCEL_DISABLED } |
Cancel state. More... | |
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enum | WakeupHook { WAKEUP_HOOK_PRE_LOOP, WAKEUP_HOOK_SENSOR_ACQUIRE, WAKEUP_HOOK_SENSOR_PREPARE, WAKEUP_HOOK_SENSOR_PROCESS, WAKEUP_HOOK_WORLDSTATE, WAKEUP_HOOK_THINK, WAKEUP_HOOK_SKILL, WAKEUP_HOOK_ACT, WAKEUP_HOOK_ACT_EXEC, WAKEUP_HOOK_POST_LOOP } |
Type to define at which hook the thread is woken up. More... | |
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static Thread * | current_thread () |
Get the Thread instance of the currently running thread. More... | |
static Thread * | current_thread_noexc () throw () |
Similar to current_thread, but does never throw an exception. More... | |
static pthread_t | current_thread_id () |
Get the ID of the currently running thread. More... | |
static void | init_main () |
Initialize Thread wrapper instance for main thread. More... | |
static void | destroy_main () |
Destroy main thread wrapper instance. More... | |
static void | set_cancel_state (CancelState new_state, CancelState *old_state=0) |
Set the cancel state of the current thread. More... | |
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static const char * | blocked_timing_hook_to_string (WakeupHook hook) |
Get string for wakeup hook. More... | |
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static const unsigned int | FLAG_BAD = 0x00000001 |
Standard thread flag: "thread is bad". More... | |
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bool | finalize_prepared |
True if prepare_finalize() has been called and was not stopped with a cancel_finalize(), false otherwise. More... | |
Mutex * | loop_mutex |
Mutex that is used to protect a call to loop(). More... | |
Mutex * | loopinterrupt_antistarve_mutex |
Mutex to avoid starvation when trying to lock loop_mutex. More... | |
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Logger * | logger |
This is the Logger member used to access the logger. More... | |
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Configuration * | config |
This is the Configuration member used to access the configuration. More... | |
OpenRAVE Thread.
This thread maintains an active connection to OpenRAVE and provides an aspect to access OpenRAVE to make it convenient for other threads to use OpenRAVE.
Definition at line 41 of file openrave_thread.h.
OpenRaveThread::OpenRaveThread | ( | ) |
Constructor.
Definition at line 44 of file openrave_thread.cpp.
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Destructor.
Definition at line 57 of file openrave_thread.cpp.
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Add an object to the environment.
name | name that should be given to that object |
filename | path to xml file of that object (KinBody) |
Implements fawkes::OpenRaveConnector.
Definition at line 219 of file openrave_thread.cpp.
References fawkes::OpenRaveEnvironment::add_object().
Referenced by OpenRaveMessageHandlerThread::loop().
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Add a new robot to the environment, and set it as the currently active one.
filename_robot | path to robot's xml file |
autogenerate_IK | if true: autogenerate IKfast IK solver for robot |
Implements fawkes::OpenRaveConnector.
Definition at line 197 of file openrave_thread.cpp.
References fawkes::OpenRaveEnvironment::add_robot(), fawkes::OpenRaveRobot::load(), fawkes::OpenRaveEnvironment::load_IK_solver(), fawkes::LoggingAspect::logger, set_active_robot(), and fawkes::OpenRaveRobot::set_ready().
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Attach a kinbody to the robot.
name | name of the object |
robot | pointer to OpenRaveRobot that object is attached to |
Implements fawkes::OpenRaveConnector.
Definition at line 290 of file openrave_thread.cpp.
References fawkes::OpenRaveRobot::attach_object().
Referenced by OpenRaveMessageHandlerThread::loop().
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Remove object from environment.
name | name of the object |
Implements fawkes::OpenRaveConnector.
Definition at line 225 of file openrave_thread.cpp.
References fawkes::OpenRaveEnvironment::delete_object().
Referenced by OpenRaveMessageHandlerThread::loop().
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Finalize the thread.
This method is executed just before the thread is canceled and destroyed. It is always preceeded by a call to prepare_finalize(). If this is not the case this is a failure. The condition can be checked with the boolean variable finalize_prepared.
This method is meant to be used in conjunction with aspects and to cover thread inter-dependencies. This routine MUST bring the thread into a safe state such that it may be canceled and destroyed afterwards. If there is any reason that this cannot happen make your prepare_finalize() reports so.
This method is called by the thread manager just before the thread is being cancelled. Here you can do whatever steps are necessary just before the thread is cancelled. Note that you thread is still running and might be in the middle of a loop, so it is not a good place to give up on all resources used. Mind segmentation faults that could happen. Protect the area with a mutex that you lock at the beginning of your loop and free in the end, and that you lock at the beginning of finalize and then never unlock. Also not that the finalization may be canceled afterwards. The next thing that happens is that either the thread is canceled and destroyed or that the finalization is canceled and the thread has to run again.
Finalize is called on a thread just before it is deleted. It is guaranteed to be called on a fully initialized thread (if no exception is thrown in init()) (this guarantee holds in the Fawkes framework).
The default implementation does nothing besides throwing an exception if prepare_finalize() has not been called.
Exception | thrown if prepare_finalize() has not been called. |
Reimplemented from fawkes::Thread.
Definition at line 81 of file openrave_thread.cpp.
References fawkes::OpenRaveEnvironment::destroy().
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Get pointer to currently used OpenRaveRobot object.
Implements fawkes::OpenRaveConnector.
Definition at line 108 of file openrave_thread.cpp.
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Get pointer to OpenRaveEnvironment object.
Implements fawkes::OpenRaveConnector.
Definition at line 99 of file openrave_thread.cpp.
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Initialize the thread.
This method is meant to be used in conjunction with aspects. Some parts of the initialization may only happen after some aspect of the thread has been initialized. Implement the init method with these actions. It is guaranteed to be called just after all aspects have been initialized and only once in the lifetime of the thread. Throw an exception if any problem occurs and the thread should not run.
Just because your init() routine suceeds and everything looks fine for this thread does not automatically imply that it will run. If it belongs to a group of threads in a ThreadList and any of the other threads fail to initialize then no thread from this group is run and thus this thread will never run. In that situation finalize() is called for this very instance, prepare_finalize() however is not called.
Reimplemented from fawkes::Thread.
Definition at line 63 of file openrave_thread.cpp.
References fawkes::OpenRaveEnvironment::create(), fawkes::OpenRaveEnvironment::enable_debug(), fawkes::OpenRaveEnvironment::lock(), fawkes::Logger::log_error(), fawkes::LoggingAspect::logger, and fawkes::Thread::name().
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Code to execute in the thread.
Implement this method to hold the code you want to be executed continously. If you do not implement this method, the default is that the thread will exit. This is useful if you choose to only implement once().
Reimplemented from fawkes::Thread.
Definition at line 88 of file openrave_thread.cpp.
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Move object in the environment.
Distances are given in meters
name | name of the object |
trans_x | transition along x-axis |
trans_y | transition along y-axis |
trans_z | transition along z-axis |
robot | if given, move relatively to robot (in most simple cases robot is at position (0,0,0) anyway, so this has no effect) |
Implements fawkes::OpenRaveConnector.
Definition at line 243 of file openrave_thread.cpp.
References fawkes::OpenRaveEnvironment::move_object().
Referenced by OpenRaveMessageHandlerThread::loop().
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Release all grabbed kinbodys from the robot.
robot | pointer to OpenRaveRobot that objects are released from |
Implements fawkes::OpenRaveConnector.
Definition at line 317 of file openrave_thread.cpp.
References fawkes::OpenRaveRobot::release_all_objects().
Referenced by OpenRaveMessageHandlerThread::loop().
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Release a kinbody from the robot.
name | name of the object |
robot | pointer to OpenRaveRobot that object is released from |
Implements fawkes::OpenRaveConnector.
Definition at line 304 of file openrave_thread.cpp.
References fawkes::OpenRaveRobot::release_object().
Referenced by OpenRaveMessageHandlerThread::loop().
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Rename object.
name | current name of the object |
new_name | new name of the object |
Implements fawkes::OpenRaveConnector.
Definition at line 232 of file openrave_thread.cpp.
References fawkes::OpenRaveEnvironment::rename_object().
Referenced by OpenRaveMessageHandlerThread::loop().
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Rotate object by a quaternion.
name | name of the object |
quat_x | x value of quaternion |
quat_y | y value of quaternion |
quat_z | z value of quaternion |
quat_w | w value of quaternion |
Implements fawkes::OpenRaveConnector.
Definition at line 253 of file openrave_thread.cpp.
References fawkes::OpenRaveEnvironment::rotate_object().
Referenced by OpenRaveMessageHandlerThread::loop().
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Rotate object along its axis.
Rotation angles should be given in radians.
name | name of the object |
rot_x | 1st rotation, along x-axis |
rot_y | 2nd rotation, along y-axis |
rot_z | 3rd rotation, along z-axis |
Implements fawkes::OpenRaveConnector.
Definition at line 263 of file openrave_thread.cpp.
References fawkes::OpenRaveEnvironment::rotate_object().
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Stub to see name in backtrace for easier debugging.
Reimplemented from fawkes::Thread.
Definition at line 84 of file openrave_thread.h.
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Run graspplanning script for a given target.
target_name | name of targeted object (KinBody) |
robot | robot to use planner on. If none is given, the currently used robot is taken |
Implements fawkes::OpenRaveConnector.
Definition at line 183 of file openrave_thread.cpp.
References fawkes::OpenRaveEnvironment::run_graspplanning().
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Run planner on previously set target.
robot | robot to use planner on. If none is given, the currently used robot is taken |
sampling | sampling time between each trajectory point (in seconds) |
Implements fawkes::OpenRaveConnector.
Definition at line 170 of file openrave_thread.cpp.
References fawkes::OpenRaveEnvironment::run_planner().
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Set robot to be used.
robot | OpenRaveRobot that should be used implicitly in other methods |
Implements fawkes::OpenRaveConnector.
Definition at line 117 of file openrave_thread.cpp.
Referenced by add_robot().
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Set OpenRaveManipulator object for robot, and calculate coordinate-system offsets or set them directly.
Make sure to update manip angles before calibrating! Uses default OpenRaveRobot object.
manip | pointer to OpenRAVManipulator that is set for robot |
trans_x | transition offset on x-axis |
trans_y | transition offset on y-axis |
trans_z | transition offset on z-axis |
calibrate | decides whether to calculate offset (true )or set them directly (false; default) |
Implements fawkes::OpenRaveConnector.
Definition at line 152 of file openrave_thread.cpp.
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Set OpenRaveManipulator object for robot, and calculate coordinate-system offsets or set them directly.
Make sure to update manip angles before calibrating!
robot | pointer to OpenRaveRobot object, explicitly set |
manip | pointer to OpenRAVManipulator that is set for robot |
trans_x | transition offset on x-axis |
trans_y | transition offset on y-axis |
trans_z | transition offset on z-axis |
calibrate | decides whether to calculate offset (true )or set them directly (false; default) |
Implements fawkes::OpenRaveConnector.
Definition at line 133 of file openrave_thread.cpp.
References fawkes::OpenRaveRobot::calibrate(), fawkes::OpenRaveRobot::set_manipulator(), and fawkes::OpenRaveRobot::set_offset().
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Set an object as the target.
Currently the object should be cylindric, and stand upright. It may also be rotated on its x-axis, but that rotation needs to be given in an argument to calculate correct position for endeffecto. This is only temporary until proper graps planning for 5DOF in OpenRAVE is provided.
name | name of the object |
robot | pointer to OpenRaveRobot that the target is set for |
rot_x | rotation of object on x-axis (radians) |
Implements fawkes::OpenRaveConnector.
Definition at line 277 of file openrave_thread.cpp.
References fawkes::OpenRaveEnvironment::get_env_ptr(), and fawkes::OpenRaveRobot::set_target_object_position().
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Start Viewer.
Implements fawkes::OpenRaveConnector.
Definition at line 160 of file openrave_thread.cpp.
References fawkes::OpenRaveEnvironment::start_viewer().