Fawkes API  Fawkes Development Version
Roomba500Thread::WorkerThread Class Reference

Worker thread for the Roomba 500 thread. More...

Inheritance diagram for Roomba500Thread::WorkerThread:

Public Member Functions

 WorkerThread (fawkes::Logger *logger, fawkes::Clock *clock, fawkes::RefPtr< Roomba500 > roomba, bool query_mode)
 Constructor. More...
 
 ~WorkerThread ()
 Destructor. More...
 
virtual void loop ()
 Code to execute in the thread. More...
 
bool has_fresh_data ()
 Check if fresh data is available. 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...
 
virtual void run ()
 Code to execute in the thread. 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...
 
- 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

Worker thread for the Roomba 500 thread.

Author
Tim Niemueller

Definition at line 45 of file thread_roomba_500.cpp.

Constructor & Destructor Documentation

◆ WorkerThread()

Roomba500Thread::WorkerThread::WorkerThread ( fawkes::Logger logger,
fawkes::Clock clock,
fawkes::RefPtr< Roomba500 roomba,
bool  query_mode 
)
inline

Constructor.

Parameters
loggerlogger
clockclock
roombarefptr to Roomba500 instance
query_modetrue to query data instead of streaming it.

Definition at line 54 of file thread_roomba_500.cpp.

References Roomba500::STREAM_INTERVAL_MS.

◆ ~WorkerThread()

Roomba500Thread::WorkerThread::~WorkerThread ( )
inline

Destructor.

Definition at line 72 of file thread_roomba_500.cpp.

Member Function Documentation

◆ has_fresh_data()

bool Roomba500Thread::WorkerThread::has_fresh_data ( )
inline

Check if fresh data is available.

Returns
true if fresh data is available, false otherwise.

Definition at line 117 of file thread_roomba_500.cpp.

Referenced by Roomba500Thread::write_blackboard().

◆ loop()

virtual void Roomba500Thread::WorkerThread::loop ( )
inlinevirtual

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 79 of file thread_roomba_500.cpp.

References fawkes::MultiLogger::log_warn().


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