Fawkes API
Fawkes Development Version
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Base Jaco Arm thread, integrating OpenRAVE. More...
#include "openrave_base_thread.h"
Public Member Functions | |
JacoOpenraveBaseThread (const char *name) | |
Constructor. More... | |
virtual | ~JacoOpenraveBaseThread () |
Destructor. More... | |
void | init () |
Initializer. More... | |
virtual void | finalize () |
Finalize the thread. More... | |
virtual void | set_plannerparams (const std::string ¶ms) |
Set planner parameters. More... | |
virtual void | set_plannerparams (const char *params) |
Set planner parameters. More... | |
virtual void | update_openrave ()=0 |
Update the openrave environment to represent the current situation. More... | |
virtual void | plot_first ()=0 |
Plot the first target of the target_queue, if it is a trajectory. More... | |
virtual void | plot_current (bool enable) |
Enable/Disable plotting of the current arm position. 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... | |
void | notify_of_failed_init () |
Notify of failed init. 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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const std::list< const char * > & | get_aspects () const |
Get list of aspect names attached to a aspected thread. 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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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... | |
virtual void | _init () |
Use this in inheriting classes for additiona initializations. More... | |
virtual void | _load_robot () |
Use this in inheriting classes to load the OpenRaveRobot. More... | |
virtual void | _post_init () |
Use this in inheriting classes for post_init stuff, e.g. 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... | |
virtual void | loop () |
Code to execute in the thread. 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... | |
Protected Attributes | |
fawkes::Mutex * | __planning_mutex |
mutex, used to lock when planning. 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... | |
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BlackBoard * | blackboard |
This is the BlackBoard instance you can use to interact with the BlackBoard. 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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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 unsigned int | FLAG_BAD = 0x00000001 |
Standard thread flag: "thread is bad". More... | |
Base Jaco Arm thread, integrating OpenRAVE.
Definition at line 54 of file openrave_base_thread.h.
JacoOpenraveBaseThread::JacoOpenraveBaseThread | ( | const char * | name | ) |
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virtual |
Destructor.
Definition at line 64 of file openrave_base_thread.cpp.
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inlineprotectedvirtual |
Use this in inheriting classes for additiona initializations.
Definition at line 88 of file openrave_base_thread.h.
Referenced by init().
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inlineprotectedvirtual |
Use this in inheriting classes to load the OpenRaveRobot.
Definition at line 91 of file openrave_base_thread.h.
Referenced by init().
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inlineprotectedvirtual |
Use this in inheriting classes for post_init stuff, e.g.
env-cloning
Definition at line 94 of file openrave_base_thread.h.
Referenced by init().
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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.
Exception | thrown if prepare_finalize() has not been called. |
Reimplemented from fawkes::Thread.
Reimplemented in JacoOpenraveThread, and JacoBimanualOpenraveThread.
Definition at line 112 of file openrave_base_thread.cpp.
References __planning_mutex.
Referenced by JacoBimanualOpenraveThread::finalize(), and JacoOpenraveThread::finalize().
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virtual |
Initializer.
Reads common config entries, and loads the viewer-environment. It calls the _init() and _load_robot() methods from inherited classes, which can be used to initialize additional data, and load the robot into the OpenRAVE environment.
Reimplemented from fawkes::Thread.
Definition at line 80 of file openrave_base_thread.cpp.
References __planning_mutex, _init(), _load_robot(), _post_init(), fawkes::ConfigurableAspect::config, fawkes::Configuration::get_bool(), and fawkes::Configuration::get_float().
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virtual |
Enable/Disable plotting of the current arm position.
enable | Set the "enabled" state |
Definition at line 156 of file openrave_base_thread.cpp.
Referenced by JacoGotoThread::final(), and JacoGotoThread::loop().
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pure virtual |
Plot the first target of the target_queue, if it is a trajectory.
Implemented in JacoOpenraveThread, and JacoBimanualOpenraveThread.
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inlineprotectedvirtual |
Stub to see name in backtrace for easier debugging.
Reimplemented from fawkes::Thread.
Reimplemented in JacoOpenraveThread, and JacoBimanualOpenraveThread.
Definition at line 85 of file openrave_base_thread.h.
References fawkes::Thread::run().
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virtual |
Set planner parameters.
The parameter string is passed as is to OpenRAVE's BaseManipulator or DualManipulation module. Errors in the string will result in planning failures.
params | parameters string |
Definition at line 131 of file openrave_base_thread.cpp.
Referenced by JacoActThread::loop(), and JacoBimanualActThread::loop().
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virtual |
Set planner parameters.
The parameter string is passed as is to OpenRAVE's BaseManipulator or DualManipulation module. Errors in the string will result in planning failures.
params | parameters string |
Definition at line 145 of file openrave_base_thread.cpp.
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pure virtual |
Update the openrave environment to represent the current situation.
This includes updating the model and plotting current positions.
Implemented in JacoOpenraveThread, and JacoBimanualOpenraveThread.
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protected |
mutex, used to lock when planning.
Definition at line 96 of file openrave_base_thread.h.
Referenced by finalize(), init(), and JacoOpenraveThread::loop().