Fawkes API
Fawkes Development Version
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Jaco Arm control thread. More...
#include "act_thread.h"
Public Member Functions | |
JacoActThread (const char *name, fawkes::jaco_arm_t *arm) | |
Constructor. More... | |
virtual | ~JacoActThread () |
Destructor. More... | |
virtual void | init () |
Initialize. More... | |
virtual void | finalize () |
Finalize. More... | |
virtual void | loop () |
Main loop. 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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BlockedTimingAspect (WakeupHook wakeup_hook) | |
Constructor. More... | |
virtual | ~BlockedTimingAspect () |
Virtual empty destructor. More... | |
WakeupHook | blockedTimingAspectHook () const |
Get the wakeup hook. 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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LoggingAspect () | |
Constructor. More... | |
virtual | ~LoggingAspect () |
Virtual empty Destructor. More... | |
void | init_LoggingAspect (Logger *logger) |
Set the logger. 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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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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enum | WakeupHook { WAKEUP_HOOK_PRE_LOOP, WAKEUP_HOOK_SENSOR_ACQUIRE, WAKEUP_HOOK_SENSOR_PREPARE, WAKEUP_HOOK_SENSOR_PROCESS, WAKEUP_HOOK_WORLDSTATE, WAKEUP_HOOK_THINK, WAKEUP_HOOK_SKILL, WAKEUP_HOOK_ACT, WAKEUP_HOOK_ACT_EXEC, WAKEUP_HOOK_POST_LOOP } |
Type to define at which hook the thread is woken up. 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 char * | blocked_timing_hook_to_string (WakeupHook hook) |
Get string for wakeup hook. More... | |
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static const unsigned int | FLAG_BAD = 0x00000001 |
Standard thread flag: "thread is bad". 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 control thread.
Definition at line 36 of file act_thread.h.
JacoActThread::JacoActThread | ( | const char * | name, |
fawkes::jaco_arm_t * | arm | ||
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Constructor.
name | thread name |
arm | pointer to jaco_arm_t struct, to be used in this thread |
Definition at line 46 of file act_thread.cpp.
References fawkes::jaco_arm_struct::arm, fawkes::jaco_arm_struct::goto_thread, fawkes::jaco_arm_struct::iface, and fawkes::jaco_arm_struct::openrave_thread.
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Destructor.
Definition at line 59 of file act_thread.cpp.
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Finalize.
Close all writing interfaces and delete JacoArm instances.
Reimplemented from fawkes::Thread.
Definition at line 147 of file act_thread.cpp.
References fawkes::jaco_arm_struct::arm, fawkes::BlackBoardAspect::blackboard, fawkes::BlackBoard::close(), fawkes::jaco_arm_struct::iface, fawkes::Logger::log_warn(), fawkes::LoggingAspect::logger, fawkes::Thread::name(), and fawkes::Exception::what_no_backtrace().
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Initialize.
Depending on single or dual_arm setup (defined by config flag), appropriate arms are loaded and then initialized if required to. This method also sets the correct function pointers that are used in the main loop() method.
Reimplemented from fawkes::Thread.
Definition at line 69 of file act_thread.cpp.
References fawkes::jaco_arm_struct::arm, fawkes::BlackBoardAspect::blackboard, fawkes::ConfigurableAspect::config, fawkes::jaco_arm_struct::config, fawkes::CONFIG_LEFT, fawkes::CONFIG_RIGHT, fawkes::CONFIG_SINGLE, fawkes::Configuration::get_bool(), fawkes::Configuration::get_string(), fawkes::jaco_arm_struct::iface, fawkes::Logger::log_error(), fawkes::LoggingAspect::logger, fawkes::Thread::name(), fawkes::BlackBoard::open_for_writing(), fawkes::jaco_arm_struct::target_mutex, fawkes::jaco_arm_struct::target_queue, fawkes::jaco_arm_struct::trajec_color, and fawkes::jaco_arm_struct::trajec_mutex.
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Main loop.
The structure is pretty obvious. We first submit changes made to the interface from threads before the ACT-hook (they might be used by other threads lateron). Then we make sure the arm is initialized, before processing incoming messages and submiting interface changes once again.
Reimplemented from fawkes::Thread.
Definition at line 165 of file act_thread.cpp.
References JacoOpenraveThread::add_target(), JacoOpenraveThread::add_target_ang(), fawkes::jaco_arm_struct::arm, fawkes::JacoInterface::JoystickPushMessage::button(), fawkes::JacoInterface::CartesianGotoMessage::e1(), fawkes::JacoInterface::CartesianGotoMessage::e2(), fawkes::JacoInterface::CartesianGotoMessage::e3(), JacoGotoThread::final(), fawkes::JacoInterface::MoveGripperMessage::finger1(), fawkes::JacoInterface::MoveGripperMessage::finger2(), fawkes::JacoInterface::MoveGripperMessage::finger3(), fawkes::JacoArm::get_name(), fawkes::jaco_arm_struct::goto_thread, fawkes::Message::id(), fawkes::Interface::id(), fawkes::jaco_arm_struct::iface, fawkes::JacoArm::initialize(), fawkes::JacoArm::initialized(), fawkes::JacoInterface::AngularGotoMessage::j1(), fawkes::JacoInterface::AngularGotoMessage::j2(), fawkes::JacoInterface::AngularGotoMessage::j3(), fawkes::JacoInterface::AngularGotoMessage::j4(), fawkes::JacoInterface::AngularGotoMessage::j5(), fawkes::JacoInterface::AngularGotoMessage::j6(), fawkes::Logger::log_debug(), fawkes::Logger::log_warn(), fawkes::LoggingAspect::logger, JacoGotoThread::move_gripper(), fawkes::Interface::msgq_empty(), fawkes::Interface::msgq_first(), fawkes::Interface::msgq_first_is(), fawkes::Interface::msgq_pop(), fawkes::Thread::name(), fawkes::jaco_arm_struct::openrave_thread, fawkes::JacoInterface::SetPlannerParamsMessage::params(), JacoGotoThread::pos_ready(), JacoGotoThread::pos_retract(), fawkes::JacoArm::push_joystick(), fawkes::JacoArm::release_joystick(), fawkes::JacoInterface::set_error_code(), fawkes::JacoInterface::set_final(), fawkes::JacoInterface::set_initialized(), fawkes::JacoInterface::set_msgid(), JacoOpenraveBaseThread::set_plannerparams(), JacoGotoThread::set_target(), JacoGotoThread::set_target_ang(), fawkes::Thread::started(), JacoGotoThread::stop(), JacoOpenraveThread::update_openrave(), fawkes::Interface::write(), fawkes::JacoInterface::CartesianGotoMessage::x(), fawkes::JacoInterface::CartesianGotoMessage::y(), and fawkes::JacoInterface::CartesianGotoMessage::z().
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inlineprotectedvirtual |
Stub to see name in backtrace for easier debugging.
Reimplemented from fawkes::Thread.
Definition at line 53 of file act_thread.h.
References fawkes::Thread::run().