Fawkes API  Fawkes Development Version
NavGraphThread Class Reference

Thread to perform graph-based path planning. More...

#include "navgraph_thread.h"

Inheritance diagram for NavGraphThread:

Public Member Functions

 NavGraphThread ()
 Constructor. More...
 
virtual ~NavGraphThread ()
 Destructor. More...
 
virtual void init ()
 Initialize the thread. More...
 
virtual void once ()
 Execute an action exactly once. More...
 
virtual void loop ()
 Code to execute in the thread. More...
 
virtual void finalize ()
 Finalize the thread. More...
 
virtual void fam_event (const char *filename, unsigned int mask)
 Event has been raised. 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::ClockAspect
 ClockAspect ()
 Constructor. More...
 
virtual ~ClockAspect ()
 Virtual empty destructor. More...
 
void init_ClockAspect (Clock *clock)
 Set the clock. 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::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::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::BlockedTimingAspect
 BlockedTimingAspect (WakeupHook wakeup_hook)
 Constructor. More...
 
virtual ~BlockedTimingAspect ()
 Virtual empty destructor. More...
 
WakeupHook blockedTimingAspectHook () const
 Get the wakeup hook. 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...
 
- Public Member Functions inherited from fawkes::TransformAspect
 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...
 
- Public Member Functions inherited from fawkes::AspectProviderAspect
 AspectProviderAspect (AspectIniFin *inifin)
 Constructor. More...
 
 AspectProviderAspect (const std::list< AspectIniFin *> aspects)
 Constructor. More...
 
virtual ~AspectProviderAspect ()
 Virtual empty destructor. More...
 
const std::list< AspectIniFin * > & aspect_provider_aspects () const
 Get name of the provided aspect. More...
 
- Public Member Functions inherited from fawkes::FamListener
virtual ~FamListener ()
 Virtual empty destructor. 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...
 
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 Member Functions inherited from fawkes::TransformAspect
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...
 

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...
 
- Public Types inherited from fawkes::BlockedTimingAspect
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...
 
- Public Types inherited from fawkes::TransformAspect
enum  Mode {
  ONLY_LISTENER, ONLY_PUBLISHER, DEFER_PUBLISHER, BOTH,
  BOTH_DEFER_PUBLISHER
}
 Enumeration describing the desired mode of operation. 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 Member Functions inherited from fawkes::BlockedTimingAspect
static const char * blocked_timing_hook_to_string (WakeupHook hook)
 Get string for wakeup hook. More...
 
- Static Public Attributes inherited from fawkes::Thread
static const unsigned int FLAG_BAD = 0x00000001
 Standard thread flag: "thread is bad". More...
 
- Static Public Attributes inherited from fawkes::FamListener
static const unsigned int FAM_ACCESS = 0x00000001
 File was accessed. More...
 
static const unsigned int FAM_MODIFY = 0x00000002
 File was modified. More...
 
static const unsigned int FAM_ATTRIB = 0x00000004
 Metadata changed. More...
 
static const unsigned int FAM_CLOSE_WRITE = 0x00000008
 Writtable file was closed. More...
 
static const unsigned int FAM_CLOSE_NOWRITE = 0x00000010
 Unwrittable file closed. More...
 
static const unsigned int FAM_CLOSE = (FAM_CLOSE_WRITE | FAM_CLOSE_NOWRITE)
 Close. More...
 
static const unsigned int FAM_OPEN = 0x00000020
 File was opened. More...
 
static const unsigned int FAM_MOVED_FROM = 0x00000040
 File was moved from X. More...
 
static const unsigned int FAM_MOVED_TO = 0x00000080
 File was moved to Y. More...
 
static const unsigned int FAM_MOVE = (FAM_MOVED_FROM | FAM_MOVED_TO)
 Moves. More...
 
static const unsigned int FAM_CREATE = 0x00000100
 Subfile was created. More...
 
static const unsigned int FAM_DELETE = 0x00000200
 Subfile was deleted. More...
 
static const unsigned int FAM_DELETE_SELF = 0x00000400
 Self was deleted. More...
 
static const unsigned int FAM_MOVE_SELF = 0x00000800
 Self was moved. More...
 
static const unsigned int FAM_UNMOUNT = 0x00002000
 Backing fs was unmounted. More...
 
static const unsigned int FAM_Q_OVERFLOW = 0x00004000
 Event queued overflowed. More...
 
static const unsigned int FAM_IGNORED = 0x00008000
 File was ignored. More...
 
static const unsigned int FAM_ONLYDIR = 0x01000000
 Only watch the path if it is a directory. More...
 
static const unsigned int FAM_DONT_FOLLOW = 0x02000000
 Do not follow a sym link. More...
 
static const unsigned int FAM_MASK_ADD = 0x20000000
 Add to the mask of an already existing watch. More...
 
static const unsigned int FAM_ISDIR = 0x40000000
 Event occurred against dir. More...
 
static const unsigned int FAM_ONESHOT = 0x80000000
 Only send event once. More...
 
static const unsigned int FAM_ALL_EVENTS
 All events which a program can wait on. 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::ClockAspect
Clockclock
 By means of this member access to the clock is given. 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...
 
- Protected Attributes inherited from fawkes::TransformAspect
tf::Transformertf_listener
 This is the transform listener which saves transforms published by other threads in the system. More...
 
tf::TransformPublishertf_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...
 

Detailed Description

Thread to perform graph-based path planning.

Author
Tim Niemueller

Definition at line 50 of file navgraph_thread.h.

Constructor & Destructor Documentation

◆ NavGraphThread()

NavGraphThread::NavGraphThread ( )

◆ ~NavGraphThread()

NavGraphThread::~NavGraphThread ( )
virtual

Destructor.

Definition at line 63 of file navgraph_thread.cpp.

Member Function Documentation

◆ fam_event()

void NavGraphThread::fam_event ( const char *  filename,
unsigned int  mask 
)
virtual

Event has been raised.

Parameters
filenamename of the file that triggered the event
maskmask indicating the event. Currently inotify event flags are used, see inotify.h.

Implements fawkes::FamListener.

Definition at line 946 of file navgraph_thread.cpp.

References fawkes::NavGraphPath::Traversal::current_index(), fawkes::NavGraph::edges(), fawkes::FamListener::FAM_IGNORED, fawkes::FamListener::FAM_MODIFY, fawkes::NavGraphPath::goal(), fawkes::Logger::log_info(), fawkes::Logger::log_warn(), fawkes::LoggingAspect::logger, fawkes::NavGraphNode::name(), fawkes::Thread::name(), fawkes::NavGraph::nodes(), fawkes::NavGraphPath::nodes(), fawkes::NavGraphPath::Traversal::path(), fawkes::NavGraphNode::property_as_float(), fawkes::NavGraphPath::Traversal::remaining(), fawkes::NavGraphPath::Traversal::running(), fawkes::NavPathInterface::set_path_length(), fawkes::NavPathInterface::set_path_node_1(), fawkes::NavPathInterface::set_path_node_10(), fawkes::NavPathInterface::set_path_node_11(), fawkes::NavPathInterface::set_path_node_12(), fawkes::NavPathInterface::set_path_node_13(), fawkes::NavPathInterface::set_path_node_14(), fawkes::NavPathInterface::set_path_node_15(), fawkes::NavPathInterface::set_path_node_16(), fawkes::NavPathInterface::set_path_node_17(), fawkes::NavPathInterface::set_path_node_18(), fawkes::NavPathInterface::set_path_node_19(), fawkes::NavPathInterface::set_path_node_2(), fawkes::NavPathInterface::set_path_node_20(), fawkes::NavPathInterface::set_path_node_21(), fawkes::NavPathInterface::set_path_node_22(), fawkes::NavPathInterface::set_path_node_23(), fawkes::NavPathInterface::set_path_node_24(), fawkes::NavPathInterface::set_path_node_25(), fawkes::NavPathInterface::set_path_node_26(), fawkes::NavPathInterface::set_path_node_27(), fawkes::NavPathInterface::set_path_node_28(), fawkes::NavPathInterface::set_path_node_29(), fawkes::NavPathInterface::set_path_node_3(), fawkes::NavPathInterface::set_path_node_30(), fawkes::NavPathInterface::set_path_node_31(), fawkes::NavPathInterface::set_path_node_32(), fawkes::NavPathInterface::set_path_node_33(), fawkes::NavPathInterface::set_path_node_34(), fawkes::NavPathInterface::set_path_node_35(), fawkes::NavPathInterface::set_path_node_36(), fawkes::NavPathInterface::set_path_node_37(), fawkes::NavPathInterface::set_path_node_38(), fawkes::NavPathInterface::set_path_node_39(), fawkes::NavPathInterface::set_path_node_4(), fawkes::NavPathInterface::set_path_node_40(), fawkes::NavPathInterface::set_path_node_5(), fawkes::NavPathInterface::set_path_node_6(), fawkes::NavPathInterface::set_path_node_7(), fawkes::NavPathInterface::set_path_node_8(), fawkes::NavPathInterface::set_path_node_9(), fawkes::NavGraphPath::size(), fawkes::FileAlterationMonitor::watch_file(), fawkes::Interface::write(), fawkes::NavGraphNode::x(), and fawkes::NavGraphNode::y().

◆ finalize()

void NavGraphThread::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.

Definition at line 190 of file navgraph_thread.cpp.

References fawkes::BlackBoardAspect::blackboard, fawkes::LockPtr< T_CppObject >::clear(), fawkes::BlackBoard::close(), and fawkes::NavGraph::remove_change_listener().

◆ init()

void NavGraphThread::init ( )
virtual

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.

See also
Fawkes Thread Aspects

Reimplemented from fawkes::Thread.

Definition at line 68 of file navgraph_thread.cpp.

References fawkes::NavGraph::add_change_listener(), fawkes::FileAlterationMonitor::add_listener(), fawkes::BlackBoardAspect::blackboard, fawkes::ClockAspect::clock, fawkes::ConfigurableAspect::config, fawkes::NavGraph::constraint_repo(), fawkes::NavGraph::default_property_as_float(), fawkes::Configuration::exists(), fawkes::Configuration::get_bool(), fawkes::Configuration::get_float(), fawkes::Configuration::get_string(), fawkes::NavGraph::has_default_property(), fawkes::Logger::log_error(), fawkes::Logger::log_info(), fawkes::Logger::log_warn(), fawkes::LoggingAspect::logger, fawkes::Thread::name(), fawkes::BlackBoard::open_for_reading(), fawkes::BlackBoard::open_for_writing(), fawkes::NavGraphAspectIniFin::set_navgraph(), and fawkes::FileAlterationMonitor::watch_file().

Referenced by loop().

◆ loop()

void NavGraphThread::loop ( )
virtual

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 222 of file navgraph_thread.cpp.

References fawkes::NavGraphPath::add_node(), fawkes::angle_distance(), fawkes::NavGraph::apply_default_properties(), fawkes::ClockAspect::clock, fawkes::NavGraph::closest_node(), fawkes::NavGraphConstraintRepo::compute(), fawkes::NavGraphPath::cost(), fawkes::NavGraph::cost(), fawkes::NavGraphPath::Traversal::current(), fawkes::NavGraphPath::Traversal::current_index(), fawkes::NavGraphPath::empty(), fawkes::NavGraphPath::goal(), fawkes::NavGraphNode::has_property(), fawkes::Interface::has_writer(), fawkes::Message::id(), init(), fawkes::NavGraphPath::Traversal::invalidate(), fawkes::NavigatorInterface::is_final(), fawkes::NavGraphNode::is_valid(), fawkes::NavGraphPath::Traversal::last(), fawkes::load_yaml_navgraph(), fawkes::LockPtr< T_CppObject >::lock(), fawkes::Logger::log_debug(), fawkes::Logger::log_error(), fawkes::Logger::log_info(), fawkes::Logger::log_warn(), fawkes::LoggingAspect::logger, fawkes::NavGraphConstraintRepo::modified(), fawkes::Interface::msgq_empty(), fawkes::Interface::msgq_enqueue(), fawkes::Interface::msgq_first(), fawkes::Interface::msgq_first_is(), fawkes::Interface::msgq_pop(), fawkes::NavGraphNode::name(), fawkes::Thread::name(), fawkes::NavGraphPath::Traversal::next(), fawkes::NavGraph::node(), fawkes::NavGraphPath::nodes(), fawkes::NavGraphPath::nodes_mutable(), fawkes::normalize_rad(), fawkes::NavigatorInterface::CartesianGotoMessage::orientation(), fawkes::NavigatorInterface::PlaceWithOriGotoMessage::orientation(), fawkes::NavGraphPath::Traversal::path(), fawkes::NavGraphPath::Traversal::peek_next(), fawkes::NavigatorInterface::PlaceGotoMessage::place(), fawkes::NavigatorInterface::PlaceWithOriGotoMessage::place(), fawkes::FileAlterationMonitor::process_events(), fawkes::NavGraphNode::property_as_float(), fawkes::Interface::read(), fawkes::NavGraphPath::Traversal::remaining(), fawkes::NavGraphPath::Traversal::remaining_cost(), fawkes::NavGraphPath::Traversal::running(), fawkes::NavGraph::search_path(), fawkes::NavGraphPath::Traversal::set_current(), fawkes::NavigatorInterface::set_dest_x(), fawkes::NavigatorInterface::set_dest_y(), fawkes::NavigatorInterface::set_error_code(), fawkes::NavigatorInterface::set_final(), fawkes::NavigatorInterface::set_msgid(), fawkes::NavGraphNode::set_property(), fawkes::NavGraphPath::size(), fawkes::Time::stamp(), fawkes::Thread::start(), fawkes::TransformAspect::tf_listener, fawkes::tf::Transformer::transform_origin(), fawkes::tf::Transformer::transform_pose(), fawkes::NavGraphPath::traversal(), fawkes::LockPtr< T_CppObject >::unlock(), fawkes::Exception::what(), fawkes::Exception::what_no_backtrace(), fawkes::Interface::write(), fawkes::NavGraphNode::x(), fawkes::NavigatorInterface::CartesianGotoMessage::x(), fawkes::NavGraphNode::y(), and fawkes::NavigatorInterface::CartesianGotoMessage::y().

◆ once()

void NavGraphThread::once ( )
virtual

Execute an action exactly once.

This code is executed once and only once right after the thread is started before loop() is called. This is useful if you want to implement an one-shot background job. Just implement once() and leave loop() untouched. Start the thread and detach it and it will just do its job and then die automatically. If you use set_delete_on_exit(true) even the Thread instance will be automatically deleted.

Reimplemented from fawkes::Thread.

Definition at line 211 of file navgraph_thread.cpp.

◆ run()

virtual void NavGraphThread::run ( )
inlineprotectedvirtual

Stub to see name in backtrace for easier debugging.

See also
Thread::run()

Reimplemented from fawkes::Thread.

Definition at line 76 of file navgraph_thread.h.

References fawkes::Thread::run().


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