Fawkes API  Fawkes Development Version
SickTiM55xCommonAcquisitionThread Class Referenceabstract

Laser acqusition thread for Sick TiM55x laser range finders. More...

#include "sick_tim55x_common_aqt.h"

Inheritance diagram for SickTiM55xCommonAcquisitionThread:

Public Member Functions

 SickTiM55xCommonAcquisitionThread (std::string &cfg_name, std::string &cfg_prefix)
 Constructor. More...
 
virtual ~SickTiM55xCommonAcquisitionThread ()
 Destructor. More...
 
virtual void pre_init (fawkes::Configuration *config, fawkes::Logger *logger)
 Pre initialization. More...
 
void read_common_config ()
 Read common configuration parameters. More...
 
- Public Member Functions inherited from LaserAcquisitionThread
 LaserAcquisitionThread (const char *thread_name)
 Constructor. More...
 
bool lock_if_new_data ()
 Lock data if fresh. More...
 
void unlock ()
 Unlock data,. More...
 
const float * get_distance_data ()
 Get distance data. More...
 
const float * get_echo_data ()
 Get echo data. More...
 
const fawkes::Timeget_timestamp ()
 Get timestamp of data. More...
 
unsigned int get_distance_data_size ()
 Get distance data size. More...
 
unsigned int get_echo_data_size ()
 Get echo data size. More...
 
- Public Member Functions inherited from fawkes::Thread
virtual ~Thread ()
 Virtual destructor. More...
 
virtual void init ()
 Initialize the thread. More...
 
bool prepare_finalize ()
 Prepare finalization. More...
 
virtual bool prepare_finalize_user ()
 Prepare finalization user implementation. More...
 
virtual void finalize ()
 Finalize the thread. 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::ClockAspect
 ClockAspect ()
 Constructor. More...
 
virtual ~ClockAspect ()
 Virtual empty destructor. More...
 
void init_ClockAspect (Clock *clock)
 Set the clock. More...
 

Protected Member Functions

void init_device ()
 Initialize device. More...
 
void resync ()
 Resynchronize to laser data. More...
 
void parse_datagram (const unsigned char *datagram, size_t datagram_length)
 Parse incoming message from device. More...
 
virtual void send_with_reply (const char *request, std::string *reply=NULL)=0
 Send a request and expect a reply. More...
 
virtual void open_device ()=0
 Open the device. More...
 
virtual void close_device ()=0
 Close the device. More...
 
virtual void flush_device ()=0
 Flush the device. More...
 
- Protected Member Functions inherited from LaserAcquisitionThread
virtual void run ()
 Stub to see name in backtrace for easier debugging. More...
 
void alloc_distances (unsigned int num_distances)
 Allocate distances array. More...
 
void alloc_echoes (unsigned int num_echoes)
 Allocate echoes array. More...
 
void reset_distances ()
 Reset all distance values to NaN. More...
 
void reset_echoes ()
 Reset all distance values to NaN. 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

std::string cfg_name_
 Name of the particular configuration instance. More...
 
std::string cfg_prefix_
 Configuration path prefix for this configuration. More...
 
std::string dev_model_
 Device model type as string. More...
 
- Protected Attributes inherited from LaserAcquisitionThread
fawkes::Mutex_data_mutex
 Lock while writing to distances or echoes array or marking new data. More...
 
fawkes::Time_timestamp
 Time when the most recent data was received. More...
 
bool _new_data
 Set to true in your loop if new data is available. More...
 
float * _distances
 Allocate a float array and copy your distance values measured in meters here. More...
 
float * _echoes
 Allocate a float array and copy your echo values here. More...
 
unsigned int _distances_size
 Assign this the size of the _distances array. More...
 
unsigned int _echoes_size
 Assign this the size of the _echoes array. 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::ClockAspect
Clockclock
 By means of this member access to the clock is given. 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

Laser acqusition thread for Sick TiM55x laser range finders.

This thread fetches the data from the laser.

Author
Tim Niemueller

Definition at line 35 of file sick_tim55x_common_aqt.h.

Constructor & Destructor Documentation

◆ SickTiM55xCommonAcquisitionThread()

SickTiM55xCommonAcquisitionThread::SickTiM55xCommonAcquisitionThread ( std::string &  cfg_name,
std::string &  cfg_prefix 
)

Constructor.

Parameters
cfg_nameshort name of configuration group
cfg_prefixconfiguration path prefix

Definition at line 76 of file sick_tim55x_common_aqt.cpp.

References cfg_name_, cfg_prefix_, and fawkes::Thread::set_name().

◆ ~SickTiM55xCommonAcquisitionThread()

SickTiM55xCommonAcquisitionThread::~SickTiM55xCommonAcquisitionThread ( )
virtual

Destructor.

Definition at line 88 of file sick_tim55x_common_aqt.cpp.

Member Function Documentation

◆ close_device()

void SickTiM55xCommonAcquisitionThread::close_device ( )
protectedpure virtual

Close the device.

Virtual method implemented by the actual connection driver.

Referenced by init_device().

◆ flush_device()

void SickTiM55xCommonAcquisitionThread::flush_device ( )
protectedpure virtual

Flush the device.

Read all current data on the channel and return on no data to read or timeout.

Referenced by init_device(), and resync().

◆ init_device()

◆ open_device()

void SickTiM55xCommonAcquisitionThread::open_device ( )
protectedpure virtual

Open the device.

Virtual method implemented by the actual connection driver.

Referenced by init_device().

◆ parse_datagram()

void SickTiM55xCommonAcquisitionThread::parse_datagram ( const unsigned char *  datagram,
size_t  datagram_length 
)
protected

◆ pre_init()

void SickTiM55xCommonAcquisitionThread::pre_init ( fawkes::Configuration config,
fawkes::Logger logger 
)
virtual

Pre initialization.

This method is called by the sensor thread for pre-initialization. After this method has been executed the methods get_distances_data_size() and get_echo_data_size() must return valid data.

Parameters
configconfiguration
loggerlogger instance

Implements LaserAcquisitionThread.

Definition at line 93 of file sick_tim55x_common_aqt.cpp.

References LaserAcquisitionThread::_distances_size, LaserAcquisitionThread::alloc_distances(), and dev_model_.

Referenced by SickTiM55xEthernetAcquisitionThread::init(), and SickTiM55xUSBAcquisitionThread::init().

◆ read_common_config()

void SickTiM55xCommonAcquisitionThread::read_common_config ( )

◆ resync()

void SickTiM55xCommonAcquisitionThread::resync ( )
protected

Resynchronize to laser data.

Stop data transfer, flush, restart.

Definition at line 170 of file sick_tim55x_common_aqt.cpp.

References flush_device(), and send_with_reply().

Referenced by SickTiM55xEthernetAcquisitionThread::loop(), and SickTiM55xUSBAcquisitionThread::loop().

◆ send_with_reply()

void SickTiM55xCommonAcquisitionThread::send_with_reply ( const char *  request,
std::string *  reply = NULL 
)
protectedpure virtual

Send a request and expect a reply.

Parameters
requestrequest to send
replyupon returns contains the received reply, maybe NULL to ignore the reply

Referenced by init_device(), and resync().

Member Data Documentation

◆ cfg_name_

std::string SickTiM55xCommonAcquisitionThread::cfg_name_
protected

Name of the particular configuration instance.

Definition at line 61 of file sick_tim55x_common_aqt.h.

Referenced by SickTiM55xCommonAcquisitionThread().

◆ cfg_prefix_

std::string SickTiM55xCommonAcquisitionThread::cfg_prefix_
protected

◆ dev_model_

std::string SickTiM55xCommonAcquisitionThread::dev_model_
protected

Device model type as string.

Definition at line 64 of file sick_tim55x_common_aqt.h.

Referenced by init_device(), and pre_init().


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