Fawkes API  Fawkes Development Version
sensor_thread.h
1 
2 /***************************************************************************
3  * sensor_thread.h - Laser thread that puses data into the interface
4  *
5  * Created: Wed Oct 08 13:32:34 2008
6  * Copyright 2006-2008 Tim Niemueller [www.niemueller.de]
7  *
8  ****************************************************************************/
9 
10 /* This program is free software; you can redistribute it and/or modify
11  * it under the terms of the GNU General Public License as published by
12  * the Free Software Foundation; either version 2 of the License, or
13  * (at your option) any later version.
14  *
15  * This program is distributed in the hope that it will be useful,
16  * but WITHOUT ANY WARRANTY; without even the implied warranty of
17  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
18  * GNU Library General Public License for more details.
19  *
20  * Read the full text in the LICENSE.GPL file in the doc directory.
21  */
22 
23 #ifndef __PLUGINS_LASER_SENSOR_THREAD_H_
24 #define __PLUGINS_LASER_SENSOR_THREAD_H_
25 
26 #include <core/threading/thread.h>
27 #include <aspect/blocked_timing.h>
28 #include <aspect/logging.h>
29 #include <aspect/configurable.h>
30 #include <aspect/blackboard.h>
31 
32 #include <string>
33 
34 namespace fawkes {
35  class Laser360Interface;
36  class Laser720Interface;
37  class Laser1080Interface;
38 }
39 
41 
43 : public fawkes::Thread,
45  public fawkes::LoggingAspect,
48 {
49  public:
50  LaserSensorThread(std::string &cfg_name, std::string &cfg_prefix,
52 
53  virtual void init();
54  virtual void finalize();
55  virtual void loop();
56 
57  /** Stub to see name in backtrace for easier debugging. @see Thread::run() */
58  protected: virtual void run() { Thread::run(); }
59 
60  private:
61  fawkes::Laser360Interface *__laser360_if;
62  fawkes::Laser720Interface *__laser720_if;
63  fawkes::Laser1080Interface *__laser1080_if;
64 
66 
67  unsigned int __num_values;
68 
69  std::string __cfg_name;
70  std::string __cfg_frame;
71  std::string __cfg_prefix;
72 };
73 
74 
75 #endif
Laser360Interface Fawkes BlackBoard Interface.
Thread aspect to access to BlackBoard.
Definition: blackboard.h:34
Laser1080Interface Fawkes BlackBoard Interface.
Laser acqusition thread.
Fawkes library namespace.
Laser sensor thread.
Definition: sensor_thread.h:42
virtual void run()
Code to execute in the thread.
Definition: thread.cpp:939
Thread class encapsulation of pthreads.
Definition: thread.h:42
Thread aspect to use blocked timing.
Thread aspect to log output.
Definition: logging.h:35
Thread aspect to access configuration data.
Definition: configurable.h:35
Laser720Interface Fawkes BlackBoard Interface.
virtual void run()
Stub to see name in backtrace for easier debugging.
Definition: sensor_thread.h:58