Fawkes API  Fawkes Development Version
JacoGotoThread Class Reference

Jaco Arm movement thread. More...

#include "goto_thread.h"

Inheritance diagram for JacoGotoThread:

Public Member Functions

 JacoGotoThread (const char *name, fawkes::jaco_arm_t *arm)
 Constructor. More...
 
virtual ~JacoGotoThread ()
 Destructor. More...
 
virtual void init ()
 Initialize. More...
 
virtual void finalize ()
 Finalize. More...
 
virtual void loop ()
 The main loop of this thread. More...
 
virtual bool final ()
 Check if arm is final. More...
 
virtual void set_target (float x, float y, float z, float e1, float e2, float e3, float f1=0.f, float f2=0.f, float f3=0.f)
 Set new target, given cartesian coordinates. More...
 
virtual void set_target_ang (float j1, float j2, float j3, float j4, float j5, float j6, float f1=0.f, float f2=0.f, float f3=0.f)
 Set new target, given joint positions This target is added to the queue, skipping trajectory planning. More...
 
virtual void move_gripper (float f1, float f2, float f3)
 Moves only the gripper. More...
 
virtual void pos_ready ()
 Moves the arm to the "READY" position. More...
 
virtual void pos_retract ()
 Moves the arm to the "RETRACT" position. More...
 
virtual void stop ()
 Stops the current movement. 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::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::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::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...
 
- 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 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 movement thread.

This thread handles the movement of the arm.

Author
Bahram Maleki-Fard

Definition at line 40 of file goto_thread.h.

Constructor & Destructor Documentation

◆ JacoGotoThread()

JacoGotoThread::JacoGotoThread ( const char *  name,
fawkes::jaco_arm_t arm 
)

Constructor.

Parameters
namethread name
armpointer to jaco_arm_t struct, to be used in this thread

Definition at line 46 of file goto_thread.cpp.

◆ ~JacoGotoThread()

JacoGotoThread::~JacoGotoThread ( )
virtual

Destructor.

Definition at line 59 of file goto_thread.cpp.

Member Function Documentation

◆ final()

bool JacoGotoThread::final ( )
virtual

Check if arm is final.

Checks if the movements started by this thread have finished, and if the target_queue has been fully processed. Otherwise the arm is probably still moving and therefore not final.

Returns
"true" if arm is not moving anymore, "false" otherwise

Definition at line 87 of file goto_thread.cpp.

References fawkes::Mutex::lock(), fawkes::jaco_arm_struct::openrave_thread, JacoOpenraveBaseThread::plot_current(), fawkes::jaco_arm_struct::target_mutex, fawkes::jaco_arm_struct::target_queue, and fawkes::Mutex::unlock().

Referenced by JacoActThread::loop().

◆ finalize()

void JacoGotoThread::finalize ( )
virtual

Finalize.

Reimplemented from fawkes::Thread.

Definition at line 72 of file goto_thread.cpp.

◆ init()

void JacoGotoThread::init ( )
virtual

Initialize.

Reimplemented from fawkes::Thread.

Definition at line 65 of file goto_thread.cpp.

◆ loop()

void JacoGotoThread::loop ( )
virtual

The main loop of this thread.

It gets the first target in the target_queue and checks if it is ready to be processed. The target is removed from the queue if the movement is "final" (see final()), which is when this method starts processing the queue again.

Reimplemented from fawkes::Thread.

Definition at line 276 of file goto_thread.cpp.

References fawkes::angle_distance(), fawkes::jaco_arm_struct::arm, fawkes::deg2rad(), fawkes::JacoInterface::euler1(), fawkes::JacoInterface::euler2(), fawkes::JacoInterface::euler3(), fawkes::JacoArm::final(), fawkes::JacoInterface::finger1(), fawkes::JacoInterface::finger2(), fawkes::JacoInterface::finger3(), fawkes::JacoArm::goto_coords(), fawkes::JacoArm::goto_joints(), fawkes::JacoArm::goto_ready(), fawkes::JacoArm::goto_retract(), fawkes::JacoArm::goto_trajec(), fawkes::jaco_arm_struct::iface, fawkes::JacoInterface::joints(), fawkes::Mutex::lock(), fawkes::Logger::log_debug(), fawkes::Logger::log_warn(), fawkes::LoggingAspect::logger, fawkes::Thread::name(), fawkes::jaco_arm_struct::openrave_thread, JacoOpenraveBaseThread::plot_current(), JacoOpenraveThread::plot_first(), fawkes::JacoInterface::set_error_code(), stop(), fawkes::JacoArm::stop(), fawkes::TARGET_ANGULAR, fawkes::TARGET_GRIPPER, fawkes::jaco_arm_struct::target_mutex, fawkes::jaco_arm_struct::target_queue, fawkes::TARGET_READY, fawkes::TARGET_RETRACT, fawkes::TRAJEC_EXECUTING, fawkes::TRAJEC_PLANNING_ERROR, fawkes::TRAJEC_READY, fawkes::TRAJEC_SKIP, fawkes::Mutex::unlock(), fawkes::Exception::what_no_backtrace(), fawkes::JacoInterface::x(), fawkes::JacoInterface::y(), and fawkes::JacoInterface::z().

◆ move_gripper()

void JacoGotoThread::move_gripper ( float  f1,
float  f2,
float  f3 
)
virtual

Moves only the gripper.

Parameters
f1value of 1st finger
f2value of 2nd finger
f3value of 3rd finger

Definition at line 231 of file goto_thread.cpp.

References fawkes::jaco_target_struct_t::fingers, fawkes::TARGET_GRIPPER, fawkes::jaco_arm_struct::target_mutex, fawkes::jaco_arm_struct::target_queue, and fawkes::jaco_target_struct_t::type.

Referenced by JacoActThread::loop().

◆ pos_ready()

void JacoGotoThread::pos_ready ( )
virtual

Moves the arm to the "READY" position.

This target is added to the queue, skipping trajectory planning. CAUTION: This also means: no collision avoidance!

Definition at line 202 of file goto_thread.cpp.

References fawkes::jaco_arm_struct::target_mutex, fawkes::jaco_arm_struct::target_queue, fawkes::TARGET_READY, and fawkes::jaco_target_struct_t::type.

Referenced by JacoActThread::loop().

◆ pos_retract()

void JacoGotoThread::pos_retract ( )
virtual

Moves the arm to the "RETRACT" position.

This target is added to the queue, skipping trajectory planning. CAUTION: This also means: no collision avoidance!

Definition at line 216 of file goto_thread.cpp.

References fawkes::jaco_arm_struct::target_mutex, fawkes::jaco_arm_struct::target_queue, fawkes::TARGET_RETRACT, and fawkes::jaco_target_struct_t::type.

Referenced by JacoActThread::loop().

◆ run()

virtual void JacoGotoThread::run ( )
inlineprotectedvirtual

Stub to see name in backtrace for easier debugging.

See also
Thread::run()

Reimplemented from fawkes::Thread.

Definition at line 66 of file goto_thread.h.

References fawkes::Thread::run().

◆ set_target()

void JacoGotoThread::set_target ( float  x,
float  y,
float  z,
float  e1,
float  e2,
float  e3,
float  f1 = 0.f,
float  f2 = 0.f,
float  f3 = 0.f 
)
virtual

Set new target, given cartesian coordinates.

This target is added to the queue, skipping trajectory planning. CAUTION: This also means: no collision avoidance!

Parameters
xx-coordinate of target position
yy-coordinate of target position
zz-coordinate of target position
e11st euler rotation of target orientation
e22nd euler rotation of target orientation
e33rd euler rotation of target orientation
f1value of 1st finger
f2value of 2nd finger
f3value of 3rd finger

Definition at line 130 of file goto_thread.cpp.

References fawkes::jaco_target_struct_t::coord, fawkes::jaco_target_struct_t::fingers, fawkes::jaco_target_struct_t::pos, fawkes::TARGET_CARTESIAN, fawkes::jaco_arm_struct::target_mutex, fawkes::jaco_arm_struct::target_queue, fawkes::TRAJEC_SKIP, fawkes::jaco_target_struct_t::trajec_state, and fawkes::jaco_target_struct_t::type.

Referenced by JacoActThread::loop().

◆ set_target_ang()

void JacoGotoThread::set_target_ang ( float  j1,
float  j2,
float  j3,
float  j4,
float  j5,
float  j6,
float  f1 = 0.f,
float  f2 = 0.f,
float  f3 = 0.f 
)
virtual

Set new target, given joint positions This target is added to the queue, skipping trajectory planning.

CAUTION: This also means: no collision avoidance!

Parameters
j1angular position of 1st joint (in degree)
j2angular position of 2nd joint (in degree)
j3angular position of 3rd joint (in degree)
j4angular position of 4th joint (in degree)
j5angular position of 5th joint (in degree)
j6angular position of 6th joint (in degree)
f1value of 1st finger
f2value of 2nd finger
f3value of 3rd finger

Definition at line 171 of file goto_thread.cpp.

References fawkes::jaco_target_struct_t::coord, fawkes::jaco_target_struct_t::fingers, fawkes::jaco_target_struct_t::pos, fawkes::TARGET_ANGULAR, fawkes::jaco_arm_struct::target_mutex, fawkes::jaco_arm_struct::target_queue, fawkes::TRAJEC_SKIP, fawkes::jaco_target_struct_t::trajec_state, and fawkes::jaco_target_struct_t::type.

Referenced by JacoActThread::loop().

◆ stop()


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