Fawkes API  Fawkes Development Version
DirectRobotinoComThread Class Reference

Thread to communicate with Robotino via OpenRobotino API (v1 or v2). More...

#include "openrobotino_com_thread.h"

Inheritance diagram for DirectRobotinoComThread:

Public Member Functions

 DirectRobotinoComThread ()
 Constructor. More...
 
virtual ~DirectRobotinoComThread ()
 Destructor. More...
 
virtual void init ()
 Initialize the thread. More...
 
virtual void once ()
 Execute an action exactly once. More...
 
virtual void loop ()
 Code to execute in the thread. More...
 
bool prepare_finalize_user ()
 Prepare finalization user implementation. More...
 
virtual void finalize ()
 Finalize the thread. More...
 
virtual bool is_connected ()
 Check if we are connected to OpenRobotino. More...
 
virtual void set_gripper (bool opened)
 Open or close gripper. More...
 
virtual bool is_gripper_open ()
 Check if gripper is open. More...
 
virtual void set_speed_points (float s1, float s2, float s3)
 Set speed points for wheels. More...
 
virtual void get_act_velocity (float &a1, float &a2, float &a3, unsigned int &seq, fawkes::Time &t)
 Get actual velocity. More...
 
virtual void get_odometry (double &x, double &y, double &phi)
 Get latest odometry value. More...
 
virtual void reset_odometry ()
 Reset odometry to zero. More...
 
virtual void set_bumper_estop_enabled (bool enabled)
 Enable or disable emergency stop on bumper contact. More...
 
virtual void set_motor_accel_limits (float min_accel, float max_accel)
 Set acceleration limits of motors. More...
 
virtual void set_digital_output (unsigned int digital_out, bool enable)
 Set digital output state. More...
 
virtual void set_desired_vel (float vx, float vy, float omega)
 Set desired velocities. More...
 
- Public Member Functions inherited from RobotinoComThread
 RobotinoComThread (const char *thread_name)
 Constructor. More...
 
virtual ~RobotinoComThread ()
 Destructor. More...
 
virtual bool get_data (SensorData &sensor_data)
 Get all current sensor data. More...
 
void set_drive_layout (float rb, float rw, float gear)
 Set omni drive layout parameters. More...
 
void set_drive_limits (float trans_accel, float trans_decel, float rot_accel, float rot_decel)
 Set the omni drive limits. More...
 
void project (float *m1, float *m2, float *m3, float vx, float vy, float omega) const
 Project the velocity of the robot in cartesian coordinates to single motor speeds. More...
 
void unproject (float *vx, float *vy, float *omega, float m1, float m2, float m3) const
 Project single motor speeds to velocity in cartesian coordinates. More...
 
- Public Member Functions inherited from fawkes::Thread
virtual ~Thread ()
 Virtual destructor. More...
 
bool prepare_finalize ()
 Prepare finalization. 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...
 
void notify_of_failed_init ()
 Notify of failed init. More...
 
- Public Member Functions inherited from fawkes::ClockAspect
 ClockAspect ()
 Constructor. More...
 
virtual ~ClockAspect ()
 Virtual empty destructor. More...
 
void init_ClockAspect (Clock *clock)
 Set the clock. More...
 
- Public Member Functions inherited from fawkes::Aspect
const std::list< const char * > & get_aspects () const
 Get list of aspect names attached to a aspected thread. More...
 
- Public Member Functions inherited from fawkes::LoggingAspect
 LoggingAspect ()
 Constructor. More...
 
virtual ~LoggingAspect ()
 Virtual empty Destructor. More...
 
void init_LoggingAspect (Logger *logger)
 Set the logger. More...
 
- Public Member Functions inherited from fawkes::ConfigurableAspect
 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...
 

Protected Member Functions

virtual void run ()
 Stub to see name in backtrace for easier debugging. More...
 
- Protected Member Functions inherited from RobotinoComThread
bool update_velocities ()
 Update velocity values. More...
 
- Protected Member Functions inherited from fawkes::Thread
 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...
 
bool wakeup_pending ()
 Check if wakeups are pending. More...
 
- Protected Member Functions inherited from fawkes::Aspect
void add_aspect (const char *name)
 Add an aspect to a thread. More...
 

Additional Inherited Members

- Public Types inherited from fawkes::Thread
enum  OpMode { OPMODE_CONTINUOUS, OPMODE_WAITFORWAKEUP }
 Thread operation mode. More...
 
enum  CancelState { CANCEL_ENABLED, CANCEL_DISABLED }
 Cancel state. More...
 
- Static Public Member Functions inherited from fawkes::Thread
static Threadcurrent_thread ()
 Get the Thread instance of the currently running thread. More...
 
static Threadcurrent_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...
 
- Static Public Attributes inherited from fawkes::Thread
static const unsigned int FLAG_BAD = 0x00000001
 Standard thread flag: "thread is bad". More...
 
- Protected Attributes inherited from RobotinoComThread
fawkes::Mutexdata_mutex_
 Mutex to protect data_. More...
 
SensorData data_
 Data struct that must be updated whenever new data is available. More...
 
bool new_data_
 Flag to indicate new data, set to true if data_ is modified. More...
 
- Protected Attributes inherited from fawkes::Thread
bool finalize_prepared
 True if prepare_finalize() has been called and was not stopped with a cancel_finalize(), false otherwise. More...
 
Mutexloop_mutex
 Mutex that is used to protect a call to loop(). More...
 
Mutexloopinterrupt_antistarve_mutex
 Mutex to avoid starvation when trying to lock loop_mutex. More...
 
- Protected Attributes inherited from fawkes::ClockAspect
Clockclock
 By means of this member access to the clock is given. More...
 
- Protected Attributes inherited from fawkes::LoggingAspect
Loggerlogger
 This is the Logger member used to access the logger. More...
 
- Protected Attributes inherited from fawkes::ConfigurableAspect
Configurationconfig
 This is the Configuration member used to access the configuration. More...
 

Detailed Description

Thread to communicate with Robotino via OpenRobotino API (v1 or v2).

Author
Tim Niemueller

Definition at line 47 of file direct_com_thread.h.

Constructor & Destructor Documentation

◆ DirectRobotinoComThread()

DirectRobotinoComThread::DirectRobotinoComThread ( )

Constructor.

Definition at line 51 of file direct_com_thread.cpp.

References fawkes::Thread::set_prepfin_conc_loop().

◆ ~DirectRobotinoComThread()

DirectRobotinoComThread::~DirectRobotinoComThread ( )
virtual

Destructor.

Definition at line 61 of file direct_com_thread.cpp.

Member Function Documentation

◆ finalize()

void DirectRobotinoComThread::finalize ( )
virtual

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.

Exceptions
Exceptionthrown if prepare_finalize() has not been called.
See also
prepare_finalize()
cancel_finalize()

Reimplemented from fawkes::Thread.

Definition at line 135 of file direct_com_thread.cpp.

◆ get_act_velocity()

void DirectRobotinoComThread::get_act_velocity ( float &  a1,
float &  a2,
float &  a3,
unsigned int &  seq,
fawkes::Time t 
)
virtual

Get actual velocity.

Parameters
a1upon return contains velocity in RPM for first wheel
a2upon return contains velocity in RPM for second wheel
a3upon return contains velocity in RPM for third wheel
sequpon return contains sequence number of latest data
tupon return contains time of latest data

Implements RobotinoComThread.

Definition at line 368 of file direct_com_thread.cpp.

References RobotinoComThread::data_, and RobotinoComThread::data_mutex_.

◆ get_odometry()

void DirectRobotinoComThread::get_odometry ( double &  x,
double &  y,
double &  phi 
)
virtual

Get latest odometry value.

Parameters
xupon return contains x coordinate of odometry
yupon return contains y coordinate of odometry
phiupon return contains rptation of odometry

Implements RobotinoComThread.

Definition at line 381 of file direct_com_thread.cpp.

References RobotinoComThread::data_, and RobotinoComThread::data_mutex_.

◆ init()

void DirectRobotinoComThread::init ( )
virtual

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.

See also
Fawkes Thread Aspects

Reimplemented from fawkes::Thread.

Definition at line 67 of file direct_com_thread.cpp.

References DirectRobotinoComMessage::add_uint8(), fawkes::ConfigurableAspect::config, fawkes::Configuration::get_bool(), fawkes::Configuration::get_float(), fawkes::Configuration::get_string(), and fawkes::Configuration::get_uint().

◆ is_connected()

bool DirectRobotinoComThread::is_connected ( )
virtual

Check if we are connected to OpenRobotino.

Returns
true if the connection has been established, false otherwise

Implements RobotinoComThread.

Definition at line 361 of file direct_com_thread.cpp.

◆ is_gripper_open()

bool DirectRobotinoComThread::is_gripper_open ( )
virtual

Check if gripper is open.

Returns
true if the gripper is presumably open, false otherwise

Implements RobotinoComThread.

Definition at line 390 of file direct_com_thread.cpp.

References RobotinoComThread::data_mutex_.

◆ loop()

void DirectRobotinoComThread::loop ( )
virtual

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 149 of file direct_com_thread.cpp.

References RobotinoComThread::data_, RobotinoComThread::data_mutex_, fawkes::Thread::finalize_prepared, fawkes::Logger::log_error(), fawkes::Logger::log_info(), fawkes::Logger::log_warn(), fawkes::LoggingAspect::logger, fawkes::Thread::name(), RobotinoComThread::new_data_, and fawkes::Exception::what_no_backtrace().

◆ once()

void DirectRobotinoComThread::once ( )
virtual

Execute an action exactly once.

This code is executed once and only once right after the thread is started before loop() is called. This is useful if you want to implement an one-shot background job. Just implement once() and leave loop() untouched. Start the thread and detach it and it will just do its job and then die automatically. If you use set_delete_on_exit(true) even the Thread instance will be automatically deleted.

Reimplemented from fawkes::Thread.

Definition at line 141 of file direct_com_thread.cpp.

References reset_odometry().

◆ prepare_finalize_user()

bool DirectRobotinoComThread::prepare_finalize_user ( )
virtual

Prepare finalization user implementation.

This method is called by prepare_finalize(). If there can ever be a situation where it is not safe to turn of a thread at some point in time then implement this method to determine these unsafe states.

An example that comes to my mind is our Katana arm. If you turn it off it looses all power and collapses back upon itself. This may damage the arm if it is not in a safe position. In this situation this method would return false to indicate this problem.

It is up to the user to decide if this should be taken for an implied signal to get in such a safe state, if this is possible at all.

This feature should be used rarely as it can have tremendous implications on the performance and experience of the whole software. In any case your implementation should somehow inform the user of the problem that caused the finalization to fail. If you are using aspect use the LoggerAspect and log the reason.

The default implementation always allows finalization.

Returns
true, if the thread can be finalized, false otherwise.

Reimplemented from fawkes::Thread.

Definition at line 118 of file direct_com_thread.cpp.

◆ reset_odometry()

void DirectRobotinoComThread::reset_odometry ( )
virtual

◆ run()

virtual void DirectRobotinoComThread::run ( )
inlineprotectedvirtual

Stub to see name in backtrace for easier debugging.

See also
Thread::run()

Reimplemented from fawkes::Thread.

Definition at line 78 of file direct_com_thread.h.

References fawkes::Thread::run().

◆ set_bumper_estop_enabled()

◆ set_desired_vel()

void DirectRobotinoComThread::set_desired_vel ( float  vx,
float  vy,
float  omega 
)
virtual

Set desired velocities.

Parameters
vxdesired velocity in base_link frame X direction ("forward")
vydesired velocity in base_link frame Y direction ("sideward")
omegadesired rotational velocity

Reimplemented from RobotinoComThread.

Definition at line 907 of file direct_com_thread.cpp.

References fawkes::Thread::finalize_prepared, fawkes::Logger::log_error(), fawkes::LoggingAspect::logger, fawkes::Thread::name(), RobotinoComThread::set_desired_vel(), and RobotinoComThread::update_velocities().

◆ set_digital_output()

void DirectRobotinoComThread::set_digital_output ( unsigned int  digital_out,
bool  enable 
)
virtual

Set digital output state.

Parameters
digital_outdigital output as written on the robot, i.e., 1 to 8
enabletrue to enable output, false to disable

Implements RobotinoComThread.

Definition at line 330 of file direct_com_thread.cpp.

References DirectRobotinoComMessage::add_uint8(), RobotinoComThread::data_, RobotinoComThread::data_mutex_, fawkes::Logger::log_error(), fawkes::LoggingAspect::logger, fawkes::Thread::name(), and RobotinoComThread::new_data_.

◆ set_gripper()

void DirectRobotinoComThread::set_gripper ( bool  opened)
virtual

Open or close gripper.

Parameters
openedtrue to open gripper, false to close

Implements RobotinoComThread.

Definition at line 422 of file direct_com_thread.cpp.

◆ set_motor_accel_limits()

void DirectRobotinoComThread::set_motor_accel_limits ( float  min_accel,
float  max_accel 
)
virtual

Set acceleration limits of motors.

Parameters
min_accelminimum acceleration
max_accelmaximum acceleration

Implements RobotinoComThread.

Definition at line 312 of file direct_com_thread.cpp.

References DirectRobotinoComMessage::add_command(), DirectRobotinoComMessage::add_float(), DirectRobotinoComMessage::add_uint8(), fawkes::Logger::log_error(), fawkes::LoggingAspect::logger, and fawkes::Thread::name().

◆ set_speed_points()

void DirectRobotinoComThread::set_speed_points ( float  s1,
float  s2,
float  s3 
)
virtual

Set speed points for wheels.

Parameters
s1speed point for first wheel in RPM
s2speed point for second wheel in RPM
s3speed point for third wheel in RPM

Implements RobotinoComThread.

Definition at line 397 of file direct_com_thread.cpp.

References DirectRobotinoComMessage::add_command(), DirectRobotinoComMessage::add_uint16(), DirectRobotinoComMessage::add_uint8(), fawkes::Logger::log_error(), fawkes::LoggingAspect::logger, and fawkes::Thread::name().


The documentation for this class was generated from the following files: