Fawkes API  Fawkes Development Version
act_thread.h
1 
2 /***************************************************************************
3  * act_thread.h - Kinova Jaco plugin act-thread
4  *
5  * Created: Tue Jun 04 13:13:20 2013
6  * Copyright 2013 Bahram Maleki-Fard
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_JACO_ACT_THREAD_H_
24 #define __PLUGINS_JACO_ACT_THREAD_H_
25 
26 #include <core/threading/thread.h>
27 #include <aspect/blocked_timing.h>
28 #include <aspect/logging.h>
29 #include <aspect/configurable.h>
30 #include <aspect/blackboard.h>
31 
32 namespace fawkes {
33  typedef struct jaco_arm_struct jaco_arm_t;
34 }
35 
37 : public fawkes::Thread,
39  public fawkes::LoggingAspect,
42 {
43  public:
44  JacoActThread(const char *name, fawkes::jaco_arm_t* arm);
45  virtual ~JacoActThread();
46 
47  virtual void init();
48  virtual void finalize();
49  virtual void loop();
50 
51 
52  /** Stub to see name in backtrace for easier debugging. @see Thread::run() */
53  protected: virtual void run() { Thread::run(); }
54 
55  private:
56  void _initialize();
57  bool _is_initializing();
58  void _process_msgs();
59 
60  fawkes::jaco_arm_t* __arm;
61 
62  bool __cfg_auto_init;
63  bool __cfg_auto_calib;
64 };
65 
66 
67 #endif
Jaco struct containing all components required for one arm.
Definition: types.h:95
Thread aspect to access to BlackBoard.
Definition: blackboard.h:34
Fawkes library namespace.
virtual void run()
Code to execute in the thread.
Definition: thread.cpp:939
Thread class encapsulation of pthreads.
Definition: thread.h:42
Thread aspect to use blocked timing.
virtual void run()
Stub to see name in backtrace for easier debugging.
Definition: act_thread.h:53
Jaco Arm control thread.
Definition: act_thread.h:36
Thread aspect to log output.
Definition: logging.h:35
Thread aspect to access configuration data.
Definition: configurable.h:35