Fawkes API
Fawkes Development Version
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Katana sensor acquisition thread. More...
#include "sensacq_thread.h"
Public Member Functions | |
KatanaSensorAcquisitionThread (fawkes::RefPtr< fawkes::KatanaController > katana, fawkes::Logger *logger) | |
Constructor. More... | |
void | set_enabled (bool enabled) |
Set whether data acquisition is enabled or not. More... | |
virtual void | loop () |
Code to execute in the thread. More... | |
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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... | |
Protected Member Functions | |
virtual void | run () |
Stub to see name in backtrace for easier debugging. 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... | |
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... | |
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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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 unsigned int | FLAG_BAD = 0x00000001 |
Standard thread flag: "thread is bad". 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... | |
Katana sensor acquisition thread.
This thread runs continuously and acquires data from the sensor. Since the operation is blocking and may take several miliseconds it is done concurrently to the main loop at specified intervals.
Definition at line 34 of file sensacq_thread.h.
KatanaSensorAcquisitionThread::KatanaSensorAcquisitionThread | ( | fawkes::RefPtr< fawkes::KatanaController > | katana, |
fawkes::Logger * | logger | ||
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Constructor.
katana | katana controller base class |
logger | logger |
Definition at line 42 of file sensacq_thread.cpp.
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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 69 of file sensacq_thread.cpp.
References fawkes::Logger::log_warn(), fawkes::Thread::name(), fawkes::KatanaController::read_sensor_data(), and fawkes::Exception::what().
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inlineprotectedvirtual |
Stub to see name in backtrace for easier debugging.
Reimplemented from fawkes::Thread.
Definition at line 44 of file sensacq_thread.h.
References fawkes::Thread::run().
void KatanaSensorAcquisitionThread::set_enabled | ( | bool | enabled | ) |
Set whether data acquisition is enabled or not.
In general the thread should only be woken up if sensor data can be acquired. But for safety data acqusition can also be turned off to be safe against spurious wakeups. Additionally, this method will acquire the loop mutex, thereby assuring that a possibly running loop has finished.
enabled | true to enable sensor data acquisition, false to disable. |
Definition at line 60 of file sensacq_thread.cpp.
References fawkes::Mutex::lock(), fawkes::Thread::loop_mutex, and fawkes::Mutex::unlock().
Referenced by KatanaActThread::loop(), and KatanaActThread::update_sensor_values().