Fawkes API
Fawkes Development Version
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IMU acqusition thread. More...
#include "acquisition_thread.h"
Public Member Functions | |
IMUAcquisitionThread (const char *thread_name, bool continuous, std::string &cfg_name, std::string &cfg_prefix) | |
Constructor. More... | |
bool | lock_if_new_data () |
Lock data if fresh. More... | |
void | unlock () |
Unlock data,. More... | |
virtual void | init () |
Initialize the thread. More... | |
virtual void | loop () |
Code to execute in the thread. More... | |
virtual void | finalize () |
Finalize the thread. More... | |
const float * | get_orientation () |
Get orientation data. More... | |
const double * | get_orientation_covariance () |
Get orientation covariance. More... | |
const float * | get_angular_velocity () |
Get angular velocity data. More... | |
const double * | get_angular_velocity_covariance () |
Get angular velocity covariance. More... | |
const float * | get_linear_acceleration () |
Get linear acceleration data. More... | |
const double * | get_linear_acceleration_covariance () |
Get linera acceleration covariance. More... | |
const fawkes::Time * | get_timestamp () |
Get time of data set. 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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ClockAspect () | |
Constructor. More... | |
virtual | ~ClockAspect () |
Virtual empty destructor. More... | |
void | init_ClockAspect (Clock *clock) |
Set the clock. 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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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... | |
Protected Attributes | |
std::string | cfg_name_ |
Configuration name (third element in config path). More... | |
std::string | cfg_prefix_ |
Configuration path prefix. More... | |
std::string | cfg_frame_ |
Coordinate frame for sensor. More... | |
bool | cfg_continuous_ |
True if running continuous. More... | |
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 | orientation_ [4] |
Pre-allocated orientation quaternion as array, 4 entries ordered (x,y,z,w). More... | |
double | orientation_covariance_ [9] |
Pre-allocated orientation covariance, row major matrix ordered x, y, z. More... | |
float | angular_velocity_ [3] |
Pre-allocated angular velocities as array, 3 entries ordered (x,y,z). More... | |
double | angular_velocity_covariance_ [9] |
Pre-allocated angular velocity covariance, row major matrix ordered x, y, z. More... | |
float | linear_acceleration_ [3] |
Pre-allocated linear acceleration as array, 3 entries ordered (x,y,z). More... | |
double | linear_acceleration_covariance_ [9] |
Pre-allocated linear acceleration covariance, row major matrix ordered x, y, z. 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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Clock * | clock |
By means of this member access to the clock is given. More... | |
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BlackBoard * | blackboard |
This is the BlackBoard instance you can use to interact with the BlackBoard. 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... | |
IMU acqusition thread.
Interface for different laser types.
Definition at line 39 of file acquisition_thread.h.
IMUAcquisitionThread::IMUAcquisitionThread | ( | const char * | thread_name, |
bool | continuous, | ||
std::string & | cfg_name, | ||
std::string & | cfg_prefix | ||
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Constructor.
thread_name | name of the thread, be descriptive |
continuous | true to run continuous, false otherwise |
cfg_name | configuration name |
cfg_prefix | configuration path prefix |
Definition at line 100 of file acquisition_thread.cpp.
References angular_velocity_, angular_velocity_covariance_, cfg_continuous_, cfg_name_, cfg_prefix_, data_mutex_, linear_acceleration_, linear_acceleration_covariance_, new_data_, orientation_, orientation_covariance_, and timestamp_.
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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 fawkes::Thread.
Reimplemented in CruizCoreXG1010AcquisitionThread.
Definition at line 146 of file acquisition_thread.cpp.
References fawkes::BlackBoardAspect::blackboard, and fawkes::BlackBoard::close().
Referenced by CruizCoreXG1010AcquisitionThread::finalize().
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Get angular velocity data.
Definition at line 71 of file acquisition_thread.h.
Referenced by IMUSensorThread::loop().
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Get angular velocity covariance.
Definition at line 76 of file acquisition_thread.h.
Referenced by IMUSensorThread::loop().
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Get linear acceleration data.
Definition at line 81 of file acquisition_thread.h.
Referenced by IMUSensorThread::loop().
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Get linera acceleration covariance.
Definition at line 86 of file acquisition_thread.h.
Referenced by IMUSensorThread::loop().
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Get orientation data.
Definition at line 61 of file acquisition_thread.h.
Referenced by IMUSensorThread::loop().
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Get orientation covariance.
Definition at line 66 of file acquisition_thread.h.
Referenced by IMUSensorThread::loop().
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Get time of data set.
Definition at line 91 of file acquisition_thread.h.
Referenced by IMUSensorThread::loop().
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Initialize the thread.
This method is meant to be used in conjunction with aspects. Some parts of the initialization may only happen after some aspect of the thread has been initialized. Implement the init method with these actions. It is guaranteed to be called just after all aspects have been initialized and only once in the lifetime of the thread. Throw an exception if any problem occurs and the thread should not run.
Just because your init() routine suceeds and everything looks fine for this thread does not automatically imply that it will run. If it belongs to a group of threads in a ThreadList and any of the other threads fail to initialize then no thread from this group is run and thus this thread will never run. In that situation finalize() is called for this very instance, prepare_finalize() however is not called.
Reimplemented from fawkes::Thread.
Reimplemented in CruizCoreXG1010AcquisitionThread.
Definition at line 129 of file acquisition_thread.cpp.
References fawkes::BlackBoardAspect::blackboard, cfg_continuous_, cfg_frame_, cfg_name_, cfg_prefix_, fawkes::ConfigurableAspect::config, fawkes::Configuration::get_string(), fawkes::BlackBoard::open_for_writing(), fawkes::Interface::set_auto_timestamping(), fawkes::IMUInterface::set_frame(), and fawkes::Interface::write().
Referenced by CruizCoreXG1010AcquisitionThread::init().
bool IMUAcquisitionThread::lock_if_new_data | ( | ) |
Lock data if fresh.
If new data has been received since get_distance_data() or get_echo_data() was called last the data is locked, no new data can arrive until you call unlock(), otherwise the lock is immediately released after checking.
Definition at line 176 of file acquisition_thread.cpp.
References data_mutex_, fawkes::Mutex::lock(), new_data_, and fawkes::Mutex::unlock().
Referenced by IMUSensorThread::loop().
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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.
Reimplemented in CruizCoreXG1010AcquisitionThread.
Definition at line 153 of file acquisition_thread.cpp.
References angular_velocity_, angular_velocity_covariance_, data_mutex_, linear_acceleration_, linear_acceleration_covariance_, fawkes::Mutex::lock(), new_data_, orientation_, orientation_covariance_, fawkes::IMUInterface::set_angular_velocity(), fawkes::IMUInterface::set_angular_velocity_covariance(), fawkes::IMUInterface::set_linear_acceleration(), fawkes::IMUInterface::set_linear_acceleration_covariance(), fawkes::IMUInterface::set_orientation(), fawkes::IMUInterface::set_orientation_covariance(), fawkes::Interface::set_timestamp(), timestamp_, fawkes::Mutex::unlock(), and fawkes::Interface::write().
Referenced by CruizCoreXG1010AcquisitionThread::loop().
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Stub to see name in backtrace for easier debugging.
Reimplemented from fawkes::Thread.
Definition at line 95 of file acquisition_thread.h.
References fawkes::Thread::run().
void IMUAcquisitionThread::unlock | ( | ) |
Unlock data,.
Definition at line 190 of file acquisition_thread.cpp.
References data_mutex_, and fawkes::Mutex::unlock().
Referenced by IMUSensorThread::loop().
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Pre-allocated angular velocities as array, 3 entries ordered (x,y,z).
Definition at line 110 of file acquisition_thread.h.
Referenced by IMUAcquisitionThread(), CruizCoreXG1010AcquisitionThread::loop(), and loop().
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Pre-allocated angular velocity covariance, row major matrix ordered x, y, z.
Definition at line 111 of file acquisition_thread.h.
Referenced by IMUAcquisitionThread(), CruizCoreXG1010AcquisitionThread::init(), and loop().
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True if running continuous.
Sub-classes must call init(), loop(), and finalize().
Definition at line 101 of file acquisition_thread.h.
Referenced by CruizCoreXG1010AcquisitionThread::finalize(), IMUAcquisitionThread(), CruizCoreXG1010AcquisitionThread::init(), init(), and CruizCoreXG1010AcquisitionThread::loop().
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Coordinate frame for sensor.
Definition at line 100 of file acquisition_thread.h.
Referenced by init().
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Configuration name (third element in config path).
Definition at line 98 of file acquisition_thread.h.
Referenced by IMUAcquisitionThread(), and init().
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Configuration path prefix.
Definition at line 99 of file acquisition_thread.h.
Referenced by IMUAcquisitionThread(), CruizCoreXG1010AcquisitionThread::init(), and init().
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Lock while writing to distances or echoes array or marking new data.
Definition at line 103 of file acquisition_thread.h.
Referenced by IMUAcquisitionThread(), lock_if_new_data(), CruizCoreXG1010AcquisitionThread::loop(), loop(), and unlock().
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Pre-allocated linear acceleration as array, 3 entries ordered (x,y,z).
Definition at line 112 of file acquisition_thread.h.
Referenced by IMUAcquisitionThread(), CruizCoreXG1010AcquisitionThread::init(), and loop().
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Pre-allocated linear acceleration covariance, row major matrix ordered x, y, z.
Definition at line 113 of file acquisition_thread.h.
Referenced by IMUAcquisitionThread(), and loop().
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Set to true in your loop if new data is available.
Set to false automatically in get_distance_data() and get_echoes_data().
Definition at line 106 of file acquisition_thread.h.
Referenced by IMUAcquisitionThread(), lock_if_new_data(), CruizCoreXG1010AcquisitionThread::loop(), and loop().
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Pre-allocated orientation quaternion as array, 4 entries ordered (x,y,z,w).
Definition at line 108 of file acquisition_thread.h.
Referenced by IMUAcquisitionThread(), CruizCoreXG1010AcquisitionThread::loop(), and loop().
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Pre-allocated orientation covariance, row major matrix ordered x, y, z.
Definition at line 109 of file acquisition_thread.h.
Referenced by IMUAcquisitionThread(), and loop().
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Time when the most recent data was received.
Definition at line 104 of file acquisition_thread.h.
Referenced by IMUAcquisitionThread(), CruizCoreXG1010AcquisitionThread::loop(), and loop().