Fawkes API  Fawkes Development Version
KatanaGotoThread Class Reference

Katana linear goto thread. More...

#include "goto_thread.h"

Inheritance diagram for KatanaGotoThread:

Public Member Functions

 KatanaGotoThread (fawkes::RefPtr< fawkes::KatanaController > katana, fawkes::Logger *logger, unsigned int poll_interval_ms)
 Constructor. More...
 
virtual void set_target (float x, float y, float z, float phi, float theta, float psi)
 Set target position. More...
 
virtual void once ()
 Execute an action exactly once. More...
 
- Public Member Functions inherited from KatanaMotionThread
 KatanaMotionThread (const char *thread_name, fawkes::RefPtr< fawkes::KatanaController > katana, fawkes::Logger *logger)
 Constructor. More...
 
bool finished () const
 Did the motion finish already? More...
 
virtual void reset ()
 Reset for next execution. More...
 
unsigned int error_code () const
 Error code. 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...
 

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...
 
- 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 loop ()
 Code to execute in the thread. More...
 
bool wakeup_pending ()
 Check if wakeups are pending. More...
 
- Protected Attributes inherited from KatanaMotionThread
fawkes::RefPtr< fawkes::KatanaController_katana
 Katana object for interaction with the arm. More...
 
bool _finished
 Set to true when motion is finished, to false on reset. More...
 
fawkes::Logger_logger
 Logger. More...
 
unsigned int _error_code
 Set to the desired error code on error. 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...
 

Detailed Description

Katana linear goto thread.

This thread moves the arm into a specified position.

Author
Tim Niemueller

Definition at line 30 of file goto_thread.h.

Constructor & Destructor Documentation

◆ KatanaGotoThread()

KatanaGotoThread::KatanaGotoThread ( fawkes::RefPtr< fawkes::KatanaController katana,
fawkes::Logger logger,
unsigned int  poll_interval_ms 
)

Constructor.

Parameters
katanakatana controller base class
loggerlogger
poll_interval_msinterval in ms between two checks if the final position has been reached

Definition at line 45 of file goto_thread.cpp.

Member Function Documentation

◆ once()

void KatanaGotoThread::once ( )
virtual

Execute an action exactly once.

This code is executed once and only once right after the thread is started before loop() is called. This is useful if you want to implement an one-shot background job. Just implement once() and leave loop() untouched. Start the thread and detach it and it will just do its job and then die automatically. If you use set_delete_on_exit(true) even the Thread instance will be automatically deleted.

Reimplemented from fawkes::Thread.

Definition at line 75 of file goto_thread.cpp.

References KatanaMotionThread::_error_code, KatanaMotionThread::_finished, KatanaMotionThread::_katana, KatanaMotionThread::_logger, fawkes::KatanaInterface::ERROR_CMD_START_FAILED, fawkes::KatanaInterface::ERROR_COMMUNICATION, fawkes::KatanaInterface::ERROR_MOTOR_CRASHED, fawkes::KatanaInterface::ERROR_NO_SOLUTION, fawkes::KatanaController::final(), fawkes::Logger::log_debug(), fawkes::Logger::log_warn(), fawkes::KatanaController::move_to(), fawkes::Thread::name(), fawkes::KatanaController::read_motor_data(), fawkes::KatanaController::read_sensor_data(), and fawkes::Exception::what().

◆ set_target()

void KatanaGotoThread::set_target ( float  x,
float  y,
float  z,
float  phi,
float  theta,
float  psi 
)
virtual

Set target position.

Parameters
xX coordinate relative to base
yY coordinate relative to base
zZ coordinate relative to base
phiPhi Euler angle of tool
thetaTheta Euler angle of tool
psiPsi Euler angle of tool

Definition at line 63 of file goto_thread.cpp.

Referenced by KatanaActThread::loop().


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