Fawkes API  Fawkes Development Version
act_thread.cpp
1 
2 /***************************************************************************
3  * act_thread.cpp - Pan/tilt plugin act thread (abstract)
4  *
5  * Created: Thu Jun 18 09:48:03 2009
6  * Copyright 2006-2009 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 #include "act_thread.h"
24 
25 using namespace fawkes;
26 
27 /** @class PanTiltActThread "act_thread.h"
28  * Pan/tilt act thread.
29  * This thread integrates into the Fawkes main loop at the ACT_EXEC hook and
30  * interacts with the controller of a particular pan/tilt unit. Note that this
31  * abstract class is then implemented by threads interacting with a particular
32  * pan/tilt unit.
33  *
34  * Each implementation of this thread shall open an instance of a PanTiltInterface
35  * and act within this thread's loop() method. The data read back from the unit
36  * shall be written in the update_sensor_values() method, that is called from
37  * the PanTiltSensorThread.
38  *
39  * @author Tim Niemueller
40  *
41  * @fn void PanTiltActThread::update_sensor_values()
42  * Update sensor values of the PTU in the BB interface.
43  */
44 
45 /** Constructor.
46  * @param thread_name thread name
47  */
48 PanTiltActThread::PanTiltActThread(const char *thread_name)
49  : Thread(thread_name, Thread::OPMODE_WAITFORWAKEUP),
50  BlockedTimingAspect(BlockedTimingAspect::WAKEUP_HOOK_ACT_EXEC)
51 {
52 }
53 
54 
55 /** Destructor. */
57 {
58 }
virtual ~PanTiltActThread()
Destructor.
Definition: act_thread.cpp:56
Fawkes library namespace.
Thread class encapsulation of pthreads.
Definition: thread.h:42
Thread aspect to use blocked timing.
PanTiltActThread(const char *thread_name)
Constructor.
Definition: act_thread.cpp:48