Fawkes API  Fawkes Development Version
motion_thread.h
1 
2 /***************************************************************************
3  * motion_thread.h - Katana one-time thread interface for motions
4  *
5  * Created: Wed Jun 10 11:20:18 2009
6  * Copyright 2006-2009 Tim Niemueller [www.niemueller.de]
7  *
8  ****************************************************************************/
9 
10 /* This program is free software; you can redistribute it and/or modify
11  * it under the terms of the GNU General Public License as published by
12  * the Free Software Foundation; either version 2 of the License, or
13  * (at your option) any later version.
14  *
15  * This program is distributed in the hope that it will be useful,
16  * but WITHOUT ANY WARRANTY; without even the implied warranty of
17  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
18  * GNU Library General Public License for more details.
19  *
20  * Read the full text in the LICENSE.GPL file in the doc directory.
21  */
22 
23 #ifndef __PLUGINS_KATANA_MOTION_THREAD_H_
24 #define __PLUGINS_KATANA_MOTION_THREAD_H_
25 
26 #include <core/threading/thread.h>
27 #include <logging/logger.h>
28 #include <core/utils/refptr.h>
29 #include <interfaces/KatanaInterface.h>
30 
31 #include <unistd.h>
32 
33 namespace fawkes {
34  class KatanaController;
35 }
36 
38 : public fawkes::Thread
39 {
40  public:
41  KatanaMotionThread(const char *thread_name,
43 
44  bool finished() const;
45  virtual void reset();
46  unsigned int error_code() const;
47 
48  protected:
49  /** Katana object for interaction with the arm */
51  /** Set to true when motion is finished, to false on reset */
52  bool _finished;
53  /** Logger */
55  /** Set to the desired error code on error */
56  unsigned int _error_code;
57 
58 };
59 
60 
61 #endif
bool finished() const
Did the motion finish already?
Fawkes library namespace.
fawkes::RefPtr< fawkes::KatanaController > _katana
Katana object for interaction with the arm.
Definition: motion_thread.h:50
fawkes::Logger * _logger
Logger.
Definition: motion_thread.h:54
Katana motion thread base class.
Definition: motion_thread.h:37
Thread class encapsulation of pthreads.
Definition: thread.h:42
KatanaMotionThread(const char *thread_name, fawkes::RefPtr< fawkes::KatanaController > katana, fawkes::Logger *logger)
Constructor.
virtual void reset()
Reset for next execution.
unsigned int error_code() const
Error code.
bool _finished
Set to true when motion is finished, to false on reset.
Definition: motion_thread.h:52
unsigned int _error_code
Set to the desired error code on error.
Definition: motion_thread.h:56
Interface for logging.
Definition: logger.h:34