Fawkes API  Fawkes Development Version
JacoOpenraveBaseThread Class Referenceabstract

Base Jaco Arm thread, integrating OpenRAVE. More...

#include "openrave_base_thread.h"

Inheritance diagram for JacoOpenraveBaseThread:

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 &params)
 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...
 
- 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...
 
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...
 
- 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...
 
virtual void loop ()
 Code to execute in the thread. 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...
 

Protected Attributes

fawkes::Mutex__planning_mutex
 mutex, used to lock when planning. 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...
 

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...
 

Detailed Description

Base Jaco Arm thread, integrating OpenRAVE.

Author
Bahram Maleki-Fard

Definition at line 54 of file openrave_base_thread.h.

Constructor & Destructor Documentation

◆ JacoOpenraveBaseThread()

JacoOpenraveBaseThread::JacoOpenraveBaseThread ( const char *  name)

Constructor.

Parameters
namethread name

Definition at line 52 of file openrave_base_thread.cpp.

◆ ~JacoOpenraveBaseThread()

JacoOpenraveBaseThread::~JacoOpenraveBaseThread ( )
virtual

Destructor.

Definition at line 64 of file openrave_base_thread.cpp.

Member Function Documentation

◆ _init()

virtual void JacoOpenraveBaseThread::_init ( )
inlineprotectedvirtual

Use this in inheriting classes for additiona initializations.

Definition at line 88 of file openrave_base_thread.h.

Referenced by init().

◆ _load_robot()

virtual void JacoOpenraveBaseThread::_load_robot ( )
inlineprotectedvirtual

Use this in inheriting classes to load the OpenRaveRobot.

Definition at line 91 of file openrave_base_thread.h.

Referenced by init().

◆ _post_init()

virtual void JacoOpenraveBaseThread::_post_init ( )
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().

◆ finalize()

void JacoOpenraveBaseThread::finalize ( )
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.

Exceptions
Exceptionthrown if prepare_finalize() has not been called.
See also
prepare_finalize()
cancel_finalize()

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().

◆ init()

void JacoOpenraveBaseThread::init ( )
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().

◆ plot_current()

void JacoOpenraveBaseThread::plot_current ( bool  enable)
virtual

Enable/Disable plotting of the current arm position.

Parameters
enableSet the "enabled" state

Definition at line 156 of file openrave_base_thread.cpp.

Referenced by JacoGotoThread::final(), and JacoGotoThread::loop().

◆ plot_first()

virtual void JacoOpenraveBaseThread::plot_first ( )
pure virtual

Plot the first target of the target_queue, if it is a trajectory.

Implemented in JacoOpenraveThread, and JacoBimanualOpenraveThread.

◆ run()

virtual void JacoOpenraveBaseThread::run ( )
inlineprotectedvirtual

Stub to see name in backtrace for easier debugging.

See also
Thread::run()

Reimplemented from fawkes::Thread.

Reimplemented in JacoOpenraveThread, and JacoBimanualOpenraveThread.

Definition at line 85 of file openrave_base_thread.h.

References fawkes::Thread::run().

◆ set_plannerparams() [1/2]

void JacoOpenraveBaseThread::set_plannerparams ( const std::string &  params)
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.

Parameters
paramsparameters string

Definition at line 131 of file openrave_base_thread.cpp.

Referenced by JacoActThread::loop(), and JacoBimanualActThread::loop().

◆ set_plannerparams() [2/2]

void JacoOpenraveBaseThread::set_plannerparams ( const char *  params)
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.

Parameters
paramsparameters string

Definition at line 145 of file openrave_base_thread.cpp.

◆ update_openrave()

virtual void JacoOpenraveBaseThread::update_openrave ( )
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.

Member Data Documentation

◆ __planning_mutex

fawkes::Mutex* JacoOpenraveBaseThread::__planning_mutex
protected

mutex, used to lock when planning.

Definition at line 96 of file openrave_base_thread.h.

Referenced by finalize(), init(), and JacoOpenraveThread::loop().


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