Fawkes API
Fawkes Development Version
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Thread to publish the robot's transforms. More...
#include "robot_state_publisher_thread.h"
Public Member Functions | |
RobotStatePublisherThread () | |
Constructor. More... | |
virtual void | init () |
Initialize the thread. More... | |
virtual void | loop () |
Code to execute in the thread. More... | |
virtual void | finalize () |
Finalize the thread. More... | |
virtual void | bb_interface_created (const char *type, const char *id) throw () |
BlackBoard interface created notification. More... | |
virtual void | bb_interface_data_changed (fawkes::Interface *interface) throw () |
BlackBoard data changed notification. More... | |
virtual void | bb_interface_writer_removed (fawkes::Interface *interface, unsigned int instance_serial) throw () |
A writing instance has been closed for a watched interface. More... | |
virtual void | bb_interface_reader_removed (fawkes::Interface *interface, unsigned int instance_serial) throw () |
A reading instance has been closed for a watched interface. 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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BlockedTimingAspect (WakeupHook wakeup_hook) | |
Constructor. More... | |
virtual | ~BlockedTimingAspect () |
Virtual empty destructor. More... | |
WakeupHook | blockedTimingAspectHook () const |
Get the wakeup hook. More... | |
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ClockAspect () | |
Constructor. More... | |
virtual | ~ClockAspect () |
Virtual empty destructor. More... | |
void | init_ClockAspect (Clock *clock) |
Set the clock. More... | |
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TransformAspect (Mode mode=ONLY_LISTENER, const char *frame_id=0) | |
Constructor. More... | |
virtual | ~TransformAspect () |
Virtual empty destructor. More... | |
void | init_TransformAspect (BlackBoard *blackboard, tf::Transformer *transformer, const char *thread_name) |
Init transform aspect. More... | |
void | finalize_TransformAspect () |
Finalize transform aspect. 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... | |
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BlackBoardInterfaceObserver () | |
Empty constructor. More... | |
virtual | ~BlackBoardInterfaceObserver () |
Destructor. More... | |
virtual void | bb_interface_destroyed (const char *type, const char *id) throw () |
BlackBoard interface destroyed notification. More... | |
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BlackBoardInterfaceListener (const char *name_format,...) | |
Constructor. More... | |
virtual | ~BlackBoardInterfaceListener () |
Destructor. More... | |
const char * | bbil_name () const |
Get BBIL name. More... | |
virtual bool | bb_interface_message_received (Interface *interface, Message *message) throw () |
BlackBoard message received notification. More... | |
virtual void | bb_interface_writer_added (Interface *interface, unsigned int instance_serial) throw () |
A writing instance has been opened for a watched interface. More... | |
virtual void | bb_interface_reader_added (Interface *interface, unsigned int instance_serial) throw () |
A reading instance has been opened for a watched interface. 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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enum | WakeupHook { WAKEUP_HOOK_PRE_LOOP, WAKEUP_HOOK_SENSOR_ACQUIRE, WAKEUP_HOOK_SENSOR_PREPARE, WAKEUP_HOOK_SENSOR_PROCESS, WAKEUP_HOOK_WORLDSTATE, WAKEUP_HOOK_THINK, WAKEUP_HOOK_SKILL, WAKEUP_HOOK_ACT, WAKEUP_HOOK_ACT_EXEC, WAKEUP_HOOK_POST_LOOP } |
Type to define at which hook the thread is woken up. More... | |
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enum | Mode { ONLY_LISTENER, ONLY_PUBLISHER, DEFER_PUBLISHER, BOTH, BOTH_DEFER_PUBLISHER } |
Enumeration describing the desired mode of operation. More... | |
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enum | QueueEntryType { DATA = 0, MESSAGES = 1, READER = 2, WRITER = 3 } |
Queue entry type. More... | |
typedef std::list< QueueEntry > | InterfaceQueue |
Queue of additions/removal of interfaces. More... | |
typedef std::map< std::string, Interface * > | InterfaceMap |
Map of currently active event subscriptions. 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 char * | blocked_timing_hook_to_string (WakeupHook hook) |
Get string for wakeup hook. More... | |
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static const unsigned int | FLAG_BAD = 0x00000001 |
Standard thread flag: "thread is bad". More... | |
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typedef LockMap< std::string, std::list< std::string > > | ObservedInterfaceLockMap |
Type for lockable interface type hash sets. More... | |
typedef ObservedInterfaceLockMap::iterator | ObservedInterfaceLockMapIterator |
Type for iterator of lockable interface type hash sets. 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... | |
virtual void | run () |
Code to execute in the thread. 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... | |
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void | add_aspect (const char *name) |
Add an aspect to a thread. More... | |
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void | tf_enable_publisher (const char *frame_id=0) |
Late enabling of publisher. More... | |
void | tf_add_publisher (const char *frame_id_format,...) |
Late add of publisher. More... | |
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void | bbio_add_observed_create (const char *type_pattern, const char *id_pattern="*") throw () |
Add interface creation type to watch list. More... | |
void | bbio_add_observed_destroy (const char *type_pattern, const char *id_pattern="*") throw () |
Add interface destruction type to watch list. More... | |
ObservedInterfaceLockMap * | bbio_get_observed_create () throw () |
Get interface creation type watch list. More... | |
ObservedInterfaceLockMap * | bbio_get_observed_destroy () throw () |
Get interface destriction type watch list. More... | |
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void | bbil_add_data_interface (Interface *interface) |
Add an interface to the data modification watch list. More... | |
void | bbil_add_message_interface (Interface *interface) |
Add an interface to the message received watch list. More... | |
void | bbil_add_reader_interface (Interface *interface) |
Add an interface to the reader addition/removal watch list. More... | |
void | bbil_add_writer_interface (Interface *interface) |
Add an interface to the writer addition/removal watch list. More... | |
void | bbil_remove_data_interface (Interface *interface) |
Remove an interface to the data modification watch list. More... | |
void | bbil_remove_message_interface (Interface *interface) |
Remove an interface to the message received watch list. More... | |
void | bbil_remove_reader_interface (Interface *interface) |
Remove an interface to the reader addition/removal watch list. More... | |
void | bbil_remove_writer_interface (Interface *interface) |
Remove an interface to the writer addition/removal watch list. More... | |
Interface * | bbil_data_interface (const char *iuid) throw () |
Get interface instance for given UID. More... | |
Interface * | bbil_message_interface (const char *iuid) throw () |
Get interface instance for given UID. More... | |
Interface * | bbil_reader_interface (const char *iuid) throw () |
Get interface instance for given UID. More... | |
Interface * | bbil_writer_interface (const char *iuid) throw () |
Get interface instance for given UID. 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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Clock * | clock |
By means of this member access to the clock is given. More... | |
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tf::Transformer * | tf_listener |
This is the transform listener which saves transforms published by other threads in the system. More... | |
tf::TransformPublisher * | tf_publisher |
This is the transform publisher which can be used to publish transforms via the blackboard. More... | |
std::map< std::string, tf::TransformPublisher * > | tf_publishers |
Map of transform publishers created through the aspect. 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... | |
Thread to publish the robot's transforms.
Definition at line 103 of file robot_state_publisher_thread.h.
RobotStatePublisherThread::RobotStatePublisherThread | ( | ) |
Constructor.
Definition at line 76 of file robot_state_publisher_thread.cpp.
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BlackBoard interface created notification.
This is called whenever an interface is created for a type that you registered for.
type | type of the interface. If you want to store this make a copy as it is not guaranteed that the supplied string exists for longer than the duration of the method call |
id | ID of the newly created interface. If you want to store this make a copy as it is not guaranteed that the supplied string exists for longer than the duration of the method call |
Reimplemented from fawkes::BlackBoardInterfaceObserver.
Definition at line 219 of file robot_state_publisher_thread.cpp.
References fawkes::BlackBoardInterfaceListener::bbil_add_data_interface(), fawkes::BlackBoardInterfaceListener::bbil_add_reader_interface(), fawkes::BlackBoardInterfaceListener::bbil_add_writer_interface(), fawkes::BlackBoardInterfaceListener::bbil_remove_data_interface(), fawkes::BlackBoardInterfaceListener::bbil_remove_reader_interface(), fawkes::BlackBoardInterfaceListener::bbil_remove_writer_interface(), fawkes::BlackBoardAspect::blackboard, fawkes::BlackBoard::close(), fawkes::Interface::id(), fawkes::Logger::log_debug(), fawkes::Logger::log_warn(), fawkes::LoggingAspect::logger, fawkes::Thread::name(), fawkes::BlackBoard::update_listener(), and fawkes::Exception::what().
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BlackBoard data changed notification.
This is called whenever the data in an interface that you registered for is modified. This happens if a writer calls the Interface::write() method.
interface | interface instance that you supplied to bbil_add_data_interface() |
Reimplemented from fawkes::BlackBoardInterfaceListener.
Definition at line 291 of file robot_state_publisher_thread.cpp.
References fawkes::tf::StampedTransform::child_frame_id, fawkes::ClockAspect::clock, fawkes::tf::StampedTransform::frame_id, fawkes::Interface::id(), fawkes::JointInterface::position(), fawkes::Interface::read(), fawkes::tf::TransformPublisher::send_transform(), fawkes::tf::StampedTransform::stamp, and fawkes::TransformAspect::tf_publisher.
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A reading instance has been closed for a watched interface.
This is called whenever a reading instance of an interface you are watching is closed.
interface | interface instance that you supplied to bbil_add_reader_interface() |
instance_serial | the instance serial of the reading instance that has just been removed. |
Reimplemented from fawkes::BlackBoardInterfaceListener.
Definition at line 259 of file robot_state_publisher_thread.cpp.
References fawkes::BlackBoardInterfaceListener::bbil_remove_data_interface(), fawkes::BlackBoardInterfaceListener::bbil_remove_reader_interface(), fawkes::BlackBoardInterfaceListener::bbil_remove_writer_interface(), fawkes::BlackBoardAspect::blackboard, fawkes::BlackBoard::close(), fawkes::Interface::has_writer(), fawkes::Interface::num_readers(), and fawkes::BlackBoard::update_listener().
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A writing instance has been closed for a watched interface.
This is called whenever a writing instance of an interface you are watching is closed.
interface | interface instance that you supplied to bbil_add_writer_interface() |
instance_serial | the instance serial of the writing instance that has just been removed. |
Reimplemented from fawkes::BlackBoardInterfaceListener.
Definition at line 250 of file robot_state_publisher_thread.cpp.
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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.
Definition at line 144 of file robot_state_publisher_thread.cpp.
References fawkes::BlackBoardAspect::blackboard, fawkes::BlackBoard::close(), fawkes::BlackBoard::unregister_listener(), and fawkes::BlackBoard::unregister_observer().
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Initialize the thread.
This method is meant to be used in conjunction with aspects. Some parts of the initialization may only happen after some aspect of the thread has been initialized. Implement the init method with these actions. It is guaranteed to be called just after all aspects have been initialized and only once in the lifetime of the thread. Throw an exception if any problem occurs and the thread should not run.
Just because your init() routine suceeds and everything looks fine for this thread does not automatically imply that it will run. If it belongs to a group of threads in a ThreadList and any of the other threads fail to initialize then no thread from this group is run and thus this thread will never run. In that situation finalize() is called for this very instance, prepare_finalize() however is not called.
Reimplemented from fawkes::Thread.
Definition at line 84 of file robot_state_publisher_thread.cpp.
References fawkes::BlackBoardInterfaceListener::bbil_add_data_interface(), fawkes::BlackBoardInterfaceListener::bbil_add_reader_interface(), fawkes::BlackBoardInterfaceListener::bbil_add_writer_interface(), fawkes::BlackBoardInterfaceObserver::bbio_add_observed_create(), fawkes::BlackBoardAspect::blackboard, fawkes::BlackBoard::close(), fawkes::ConfigurableAspect::config, fawkes::Configuration::get_float(), fawkes::Configuration::get_string(), fawkes::Logger::log_debug(), fawkes::Logger::log_error(), fawkes::Logger::log_warn(), fawkes::LoggingAspect::logger, fawkes::Thread::name(), fawkes::BlackBoard::open_multiple_for_reading(), fawkes::BlackBoard::register_listener(), and fawkes::BlackBoard::register_observer().
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Code to execute in the thread.
Implement this method to hold the code you want to be executed continously. If you do not implement this method, the default is that the thread will exit. This is useful if you choose to only implement once().
Reimplemented from fawkes::Thread.
Definition at line 153 of file robot_state_publisher_thread.cpp.
References fawkes::tf::StampedTransform::child_frame_id, fawkes::ClockAspect::clock, fawkes::tf::StampedTransform::frame_id, fawkes::Logger::log_debug(), fawkes::LoggingAspect::logger, fawkes::Thread::name(), fawkes::tf::TransformPublisher::send_transform(), fawkes::tf::StampedTransform::stamp, and fawkes::TransformAspect::tf_publisher.