Fawkes API  Fawkes Development Version
JacoBimanualActThread Class Reference

Jaco Arm act-thread for coordinate bimanual manipulation. More...

#include "bimanual_act_thread.h"

Inheritance diagram for JacoBimanualActThread:

Public Member Functions

 JacoBimanualActThread (fawkes::jaco_dual_arm_t *arms)
 Constructor. More...
 
virtual ~JacoBimanualActThread ()
 Destructor. More...
 
virtual void init ()
 Initialize. More...
 
virtual void finalize ()
 Finalize. More...
 
virtual void loop ()
 Main loop. More...
 
- Public Member Functions inherited from fawkes::Thread
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...
 
void notify_of_failed_init ()
 Notify of failed init. More...
 
- Public Member Functions inherited from fawkes::BlockedTimingAspect
 BlockedTimingAspect (WakeupHook wakeup_hook)
 Constructor. More...
 
virtual ~BlockedTimingAspect ()
 Virtual empty destructor. More...
 
WakeupHook blockedTimingAspectHook () const
 Get the wakeup hook. 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...
 
- Public Member Functions inherited from fawkes::BlackBoardAspect
 BlackBoardAspect (const char *owner=NULL)
 Constructor. More...
 
virtual ~BlackBoardAspect ()
 Virtual empty destructor. More...
 
void init_BlackBoardAspect (BlackBoard *bb)
 Init BlackBoard aspect. More...
 

Protected Member Functions

virtual void run ()
 Stub to see name in backtrace for easier debugging. 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...
 
virtual void once ()
 Execute an action exactly once. 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...
 
- Public Types inherited from fawkes::BlockedTimingAspect
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...
 
- 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 Member Functions inherited from fawkes::BlockedTimingAspect
static const char * blocked_timing_hook_to_string (WakeupHook hook)
 Get string for wakeup hook. 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 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::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...
 
- Protected Attributes inherited from fawkes::BlackBoardAspect
BlackBoardblackboard
 This is the BlackBoard instance you can use to interact with the BlackBoard. More...
 

Detailed Description

Jaco Arm act-thread for coordinate bimanual manipulation.

Author
Bahram Maleki-Fard

Definition at line 36 of file bimanual_act_thread.h.

Constructor & Destructor Documentation

◆ JacoBimanualActThread()

JacoBimanualActThread::JacoBimanualActThread ( fawkes::jaco_dual_arm_t arms)

Constructor.

Parameters
armspointer to jaco_dual_arm_t struct, to be used in this thread

Definition at line 40 of file bimanual_act_thread.cpp.

◆ ~JacoBimanualActThread()

JacoBimanualActThread::~JacoBimanualActThread ( )
virtual

Destructor.

Definition at line 48 of file bimanual_act_thread.cpp.

Member Function Documentation

◆ finalize()

◆ init()

void JacoBimanualActThread::init ( )
virtual

◆ loop()

void JacoBimanualActThread::loop ( )
virtual

Main loop.

Reimplemented from fawkes::Thread.

Definition at line 76 of file bimanual_act_thread.cpp.

References JacoBimanualOpenraveThread::add_target(), JacoBimanualGotoThread::final(), fawkes::jaco_dual_arm_struct::goto_thread, fawkes::Message::id(), fawkes::Interface::id(), fawkes::jaco_dual_arm_struct::iface, fawkes::JacoBimanualInterface::SetConstrainedMessage::is_constrained(), fawkes::JacoBimanualInterface::CartesianGotoMessage::l_e1(), fawkes::JacoBimanualInterface::CartesianGotoMessage::l_e2(), fawkes::JacoBimanualInterface::CartesianGotoMessage::l_e3(), fawkes::JacoBimanualInterface::MoveGripperMessage::l_finger1(), fawkes::JacoBimanualInterface::MoveGripperMessage::l_finger2(), fawkes::JacoBimanualInterface::MoveGripperMessage::l_finger3(), fawkes::JacoBimanualInterface::CartesianGotoMessage::l_x(), fawkes::JacoBimanualInterface::CartesianGotoMessage::l_y(), fawkes::JacoBimanualInterface::CartesianGotoMessage::l_z(), fawkes::Logger::log_debug(), fawkes::Logger::log_warn(), fawkes::LoggingAspect::logger, JacoBimanualGotoThread::move_gripper(), fawkes::Interface::msgq_empty(), fawkes::Interface::msgq_first(), fawkes::Interface::msgq_first_is(), fawkes::Interface::msgq_pop(), fawkes::Thread::name(), fawkes::jaco_dual_arm_struct::openrave_thread, fawkes::JacoBimanualInterface::SetPlannerParamsMessage::params(), fawkes::JacoBimanualInterface::CartesianGotoMessage::r_e1(), fawkes::JacoBimanualInterface::CartesianGotoMessage::r_e2(), fawkes::JacoBimanualInterface::CartesianGotoMessage::r_e3(), fawkes::JacoBimanualInterface::MoveGripperMessage::r_finger1(), fawkes::JacoBimanualInterface::MoveGripperMessage::r_finger2(), fawkes::JacoBimanualInterface::MoveGripperMessage::r_finger3(), fawkes::JacoBimanualInterface::CartesianGotoMessage::r_x(), fawkes::JacoBimanualInterface::CartesianGotoMessage::r_y(), fawkes::JacoBimanualInterface::CartesianGotoMessage::r_z(), JacoBimanualOpenraveThread::set_constrained(), fawkes::JacoBimanualInterface::set_error_code(), fawkes::JacoBimanualInterface::set_final(), fawkes::JacoBimanualInterface::set_msgid(), JacoOpenraveBaseThread::set_plannerparams(), and fawkes::Interface::write().

◆ run()

virtual void JacoBimanualActThread::run ( )
inlineprotectedvirtual

Stub to see name in backtrace for easier debugging.

See also
Thread::run()

Reimplemented from fawkes::Thread.

Definition at line 53 of file bimanual_act_thread.h.

References fawkes::Thread::run().


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