Fawkes API
Fawkes Development Version
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Jaco Arm thread for dual-arm setup, integrating OpenRAVE. More...
#include "bimanual_openrave_thread.h"
Public Member Functions | |
JacoBimanualOpenraveThread (fawkes::jaco_dual_arm_t *arms) | |
Constructor. More... | |
virtual void | loop () |
Code to execute in the thread. More... | |
virtual void | finalize () |
Finalize the thread. More... | |
virtual void | update_openrave () |
Update the openrave environment to represent the current situation. More... | |
virtual void | plot_first () |
Plot the first target of the target_queue, if it is a trajectory. More... | |
virtual bool | add_target (float l_x, float l_y, float l_z, float l_e1, float l_e2, float l_e3, float r_x, float r_y, float r_z, float r_e1, float r_e2, float r_e3) |
Add target for coordinated manipulation to the queue. More... | |
virtual void | set_constrained (bool enable) |
Enable/Disable constrained planning. More... | |
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JacoOpenraveBaseThread (const char *name) | |
Constructor. More... | |
virtual | ~JacoOpenraveBaseThread () |
Destructor. More... | |
void | init () |
Initializer. More... | |
virtual void | set_plannerparams (const std::string ¶ms) |
Set planner parameters. More... | |
virtual void | set_plannerparams (const char *params) |
Set planner parameters. More... | |
virtual void | plot_current (bool enable) |
Enable/Disable plotting of the current arm position. More... | |
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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... | |
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LoggingAspect () | |
Constructor. More... | |
virtual | ~LoggingAspect () |
Virtual empty Destructor. More... | |
void | init_LoggingAspect (Logger *logger) |
Set the logger. More... | |
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const std::list< const char * > & | get_aspects () const |
Get list of aspect names attached to a aspected thread. More... | |
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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... | |
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BlackBoardAspect (const char *owner=NULL) | |
Constructor. More... | |
virtual | ~BlackBoardAspect () |
Virtual empty destructor. More... | |
void | init_BlackBoardAspect (BlackBoard *bb) |
Init BlackBoard aspect. More... | |
Protected Member Functions | |
virtual void | run () |
Stub to see name in backtrace for easier debugging. More... | |
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virtual void | _post_init () |
Use this in inheriting classes for post_init stuff, e.g. 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... | |
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void | add_aspect (const char *name) |
Add an aspect to a thread. 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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fawkes::Mutex * | __planning_mutex |
mutex, used to lock when planning. 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... | |
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Logger * | logger |
This is the Logger member used to access the logger. More... | |
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Configuration * | config |
This is the Configuration member used to access the configuration. More... | |
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BlackBoard * | blackboard |
This is the BlackBoard instance you can use to interact with the BlackBoard. More... | |
Jaco Arm thread for dual-arm setup, integrating OpenRAVE.
Definition at line 34 of file bimanual_openrave_thread.h.
JacoBimanualOpenraveThread::JacoBimanualOpenraveThread | ( | fawkes::jaco_dual_arm_t * | arms | ) |
Constructor.
arms | pointer to jaco_dual_arm_t struct, to be used in this thread |
Definition at line 56 of file bimanual_openrave_thread.cpp.
References fawkes::ConfigurableAspect::config, finalize(), fawkes::Configuration::get_string(), fawkes::jaco_dual_arm_struct::left, fawkes::Logger::log_debug(), fawkes::LoggingAspect::logger, fawkes::Thread::name(), fawkes::jaco_dual_arm_struct::right, and fawkes::Exception::what_no_backtrace().
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Add target for coordinated manipulation to the queue.
This adds targets to the queues for both left and right arms. It sets the target->coord flag to "true", which means it will not be processed by the threads for uncoordinated manipulation!
l_x | x-coordinate of target position of left arm |
l_y | y-coordinate of target position of left arm |
l_z | z-coordinate of target position of left arm |
l_e1 | 1st euler rotation of target orientation of left arm |
l_e2 | 2nd euler rotation of target orientation of left arm |
l_e3 | 3rd euler rotation of target orientation of left arm |
r_x | x-coordinate of target position of right arm |
r_y | y-coordinate of target position of right arm |
r_z | z-coordinate of target position of right arm |
r_e1 | 1st euler rotation of target orientation of right arm |
r_e2 | 2nd euler rotation of target orientation of right arm |
r_e3 | 3rd euler rotation of target orientation of right arm |
Definition at line 311 of file bimanual_openrave_thread.cpp.
References fawkes::jaco_target_struct_t::coord, fawkes::jaco_target_struct_t::pos, fawkes::TARGET_CARTESIAN, fawkes::jaco_target_struct_t::trajec_state, fawkes::TRAJEC_WAITING, and fawkes::jaco_target_struct_t::type.
Referenced by JacoBimanualActThread::loop().
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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.
Exception | thrown if prepare_finalize() has not been called. |
Reimplemented from JacoOpenraveBaseThread.
Definition at line 199 of file bimanual_openrave_thread.cpp.
References JacoOpenraveBaseThread::finalize().
Referenced by JacoBimanualOpenraveThread().
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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 216 of file bimanual_openrave_thread.cpp.
References fawkes::TARGET_ANGULAR, fawkes::TRAJEC_IK_ERROR, and fawkes::TRAJEC_WAITING.
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Plot the first target of the target_queue, if it is a trajectory.
Implements JacoOpenraveBaseThread.
Definition at line 359 of file bimanual_openrave_thread.cpp.
References fawkes::EULER_ZXZ, fawkes::Logger::log_debug(), fawkes::Logger::log_warn(), fawkes::LoggingAspect::logger, fawkes::Thread::name(), fawkes::TRAJEC_PLANNING, fawkes::TRAJEC_PLANNING_ERROR, and fawkes::TRAJEC_READY.
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inlineprotectedvirtual |
Stub to see name in backtrace for easier debugging.
Reimplemented from JacoOpenraveBaseThread.
Definition at line 52 of file bimanual_openrave_thread.h.
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Enable/Disable constrained planning.
Enabling it will constrain the movement, which means it is tried to maintain the distance of the grippers to each other. This should be activated when moving an object with both hands, but disabled in situations when the arms do not need to hold the object simultaneously at all times.
enable | Enables/Disables the state. |
Definition at line 285 of file bimanual_openrave_thread.cpp.
Referenced by JacoBimanualActThread::loop().
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Update the openrave environment to represent the current situation.
This includes updating the model and plotting current positions.
Implements JacoOpenraveBaseThread.
Definition at line 353 of file bimanual_openrave_thread.cpp.