Fawkes API  Fawkes Development Version
broker_thread.h
1 
2 /***************************************************************************
3  * broker_thread.h - NaoQi broker providing thread
4  *
5  * Created: Thu May 12 19:01:52 2011
6  * Copyright 2006-2011 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 #ifndef __PLUGINS_NAO_BROKER_THREAD_H_
24 #define __PLUGINS_NAO_BROKER_THREAD_H_
25 
26 #include <core/threading/thread.h>
27 #include <aspect/clock.h>
28 #include <aspect/logging.h>
29 #include <aspect/configurable.h>
30 #include <aspect/aspect_provider.h>
31 #include <plugins/nao/aspect/naoqi_inifin.h>
32 
33 #include <alcore/alptr.h>
34 #include <alcommon/albroker.h>
35 
37 : public fawkes::Thread,
38  public fawkes::LoggingAspect,
40  public fawkes::ClockAspect,
42 {
43  public:
45  virtual ~NaoQiBrokerThread();
46 
47  virtual void init();
48  virtual void loop();
49  virtual void finalize();
50 
51  /** Stub to see name in backtrace for easier debugging. @see Thread::run() */
52  protected: virtual void run() { Thread::run(); }
53 
54  private:
55  AL::ALPtr<AL::ALBroker> __broker;
56  fawkes::NaoQiAspectIniFin __naoqi_aspect_inifin;
57 
58 };
59 
60 #endif
Thread aspect that allows to obtain the current time from the clock.
Definition: clock.h:36
virtual void finalize()
Finalize the thread.
NaoQiBrokerThread()
Constructor.
Thread class encapsulation of pthreads.
Definition: thread.h:42
virtual void loop()
Code to execute in the thread.
Thread aspect to log output.
Definition: logging.h:35
NaoQi Broker Thread.
Definition: broker_thread.h:36
Thread aspect provide a new aspect.
Thread aspect to access configuration data.
Definition: configurable.h:35
NaoQiAspect initializer/finalizer.
Definition: naoqi_inifin.h:35
virtual void run()
Stub to see name in backtrace for easier debugging.
Definition: broker_thread.h:52
virtual ~NaoQiBrokerThread()
Destructor.
virtual void init()
Initialize the thread.