Fawkes API  Fawkes Development Version
sensor_thread.cpp
1 
2 /***************************************************************************
3  * sensor_thread.cpp - Robotis dynamixel servo sensor integration thread
4  *
5  * Created: Mon Mar 23 20:20:02 2015 (based on pantilt plugin)
6  * Copyright 2006-2015 Tim Niemueller [www.niemueller.de]
7  ****************************************************************************/
8 
9 /* This program is free software; you can redistribute it and/or modify
10  * it under the terms of the GNU General Public License as published by
11  * the Free Software Foundation; either version 2 of the License, or
12  * (at your option) any later version.
13  *
14  * This program is distributed in the hope that it will be useful,
15  * but WITHOUT ANY WARRANTY; without even the implied warranty of
16  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
17  * GNU Library General Public License for more details.
18  *
19  * Read the full text in the LICENSE.GPL file in the doc directory.
20  */
21 
22 #include "sensor_thread.h"
23 #include "driver_thread.h"
24 
25 using namespace fawkes;
26 
27 /** @class DynamixelSensorThread "sensor_thread.h"
28  * Robotis dynamixel servo sensor thread.
29  * This thread integrates into the Fawkes main loop at the SENSOR hook and
30  * triggers the driver thread to retrieve and write new sensor data.
31  * @author Tim Niemueller
32  */
33 
34 /** Constructor. */
36  : Thread("DynamixelSensorThread", Thread::OPMODE_WAITFORWAKEUP),
37  BlockedTimingAspect(BlockedTimingAspect::WAKEUP_HOOK_SENSOR_ACQUIRE)
38 {
39 }
40 
41 
42 void
44 {
45  for (auto &d : driver_threads_) {
46  d->exec_sensor();
47  }
48 }
49 
50 /** Add a driver thread to wake in SENSOR_ACQUIRE hook.
51  * @param drv_thread driver thread to add
52  */
53 void
55 {
56  driver_threads_.push_back(drv_thread);
57 }
Driver thread for Robotis dynamixel servos.
Definition: driver_thread.h:53
Fawkes library namespace.
void add_driver_thread(DynamixelDriverThread *drv_thread)
Add a driver thread to wake in SENSOR_ACQUIRE hook.
Thread class encapsulation of pthreads.
Definition: thread.h:42
Thread aspect to use blocked timing.
DynamixelSensorThread()
Constructor.
virtual void loop()
Code to execute in the thread.