Fawkes API  Fawkes Development Version
LaserAcquisitionThread Class Referenceabstract

Laser acqusition thread. More...

#include "acquisition_thread.h"

Inheritance diagram for LaserAcquisitionThread:

Public Member Functions

 LaserAcquisitionThread (const char *thread_name)
 Constructor. More...
 
bool lock_if_new_data ()
 Lock data if fresh. More...
 
void unlock ()
 Unlock data,. More...
 
virtual void pre_init (fawkes::Configuration *config, fawkes::Logger *logger)=0
 Pre initialization. More...
 
const float * get_distance_data ()
 Get distance data. More...
 
const float * get_echo_data ()
 Get echo data. More...
 
const fawkes::Timeget_timestamp ()
 Get timestamp of data. More...
 
unsigned int get_distance_data_size ()
 Get distance data size. More...
 
unsigned int get_echo_data_size ()
 Get echo data size. 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...
 
- Public Member Functions inherited from fawkes::LoggingAspect
 LoggingAspect ()
 Constructor. More...
 
virtual ~LoggingAspect ()
 Virtual empty Destructor. More...
 
void init_LoggingAspect (Logger *logger)
 Set the logger. More...
 
- Public Member Functions inherited from fawkes::Aspect
const std::list< const char * > & get_aspects () const
 Get list of aspect names attached to a aspected thread. More...
 
- Public Member Functions inherited from fawkes::ConfigurableAspect
 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...
 
- Public Member Functions inherited from fawkes::ClockAspect
 ClockAspect ()
 Constructor. More...
 
virtual ~ClockAspect ()
 Virtual empty destructor. More...
 
void init_ClockAspect (Clock *clock)
 Set the clock. More...
 

Protected Member Functions

virtual void run ()
 Stub to see name in backtrace for easier debugging. More...
 
void alloc_distances (unsigned int num_distances)
 Allocate distances array. More...
 
void alloc_echoes (unsigned int num_echoes)
 Allocate echoes array. More...
 
void reset_distances ()
 Reset all distance values to NaN. More...
 
void reset_echoes ()
 Reset all distance values to NaN. 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 once ()
 Execute an action exactly once. More...
 
virtual void loop ()
 Code to execute in the thread. More...
 
bool wakeup_pending ()
 Check if wakeups are pending. More...
 
- Protected Member Functions inherited from fawkes::Aspect
void add_aspect (const char *name)
 Add an aspect to a thread. More...
 

Protected Attributes

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 * _distances
 Allocate a float array and copy your distance values measured in meters here. More...
 
float * _echoes
 Allocate a float array and copy your echo values here. More...
 
unsigned int _distances_size
 Assign this the size of the _distances array. More...
 
unsigned int _echoes_size
 Assign this the size of the _echoes array. 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...
 
- Protected Attributes inherited from fawkes::LoggingAspect
Loggerlogger
 This is the Logger member used to access the logger. More...
 
- Protected Attributes inherited from fawkes::ConfigurableAspect
Configurationconfig
 This is the Configuration member used to access the configuration. More...
 
- Protected Attributes inherited from fawkes::ClockAspect
Clockclock
 By means of this member access to the clock is given. 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...
 

Detailed Description

Laser acqusition thread.

Interface for different laser types.

Author
Tim Niemueller

Definition at line 38 of file acquisition_thread.h.

Constructor & Destructor Documentation

◆ LaserAcquisitionThread()

LaserAcquisitionThread::LaserAcquisitionThread ( const char *  thread_name)

Constructor.

Parameters
thread_namename of the thread, be descriptive

Definition at line 79 of file acquisition_thread.cpp.

References _data_mutex, _distances, _distances_size, _echoes, _echoes_size, _new_data, and _timestamp.

Member Function Documentation

◆ alloc_distances()

void LaserAcquisitionThread::alloc_distances ( unsigned int  num_distances)
protected

Allocate distances array.

Call this from a laser acqusition thread implementation to properly initialize the distances array.

Parameters
num_distancesnumber of distances to allocate the array for

Definition at line 183 of file acquisition_thread.cpp.

References _distances, and _distances_size.

Referenced by HokuyoUrgAcquisitionThread::init(), HokuyoUrgGbxAcquisitionThread::init(), and SickTiM55xCommonAcquisitionThread::pre_init().

◆ alloc_echoes()

void LaserAcquisitionThread::alloc_echoes ( unsigned int  num_echoes)
protected

Allocate echoes array.

Call this from a laser acqusition thread implementation to properly initialize the echoes array.

Parameters
num_echoesnumber of echoes to allocate the array for

Definition at line 200 of file acquisition_thread.cpp.

References _echoes, and _echoes_size.

◆ get_distance_data()

const float * LaserAcquisitionThread::get_distance_data ( )

Get distance data.

Returns
Float array with distance values

Definition at line 129 of file acquisition_thread.cpp.

References _distances, and _new_data.

Referenced by LaserSensorThread::loop().

◆ get_distance_data_size()

unsigned int LaserAcquisitionThread::get_distance_data_size ( )

Get distance data size.

Returns
size of data float array

Definition at line 151 of file acquisition_thread.cpp.

References _distances_size.

Referenced by LaserSensorThread::init().

◆ get_echo_data()

const float * LaserAcquisitionThread::get_echo_data ( )

Get echo data.

Returns
Float array with echo values

Definition at line 140 of file acquisition_thread.cpp.

References _echoes, and _new_data.

◆ get_echo_data_size()

unsigned int LaserAcquisitionThread::get_echo_data_size ( )

Get echo data size.

Returns
size of data float array

Definition at line 161 of file acquisition_thread.cpp.

References _echoes_size.

◆ get_timestamp()

const fawkes::Time * LaserAcquisitionThread::get_timestamp ( )

Get timestamp of data.

Returns
most recent data time

Definition at line 171 of file acquisition_thread.cpp.

References _timestamp.

Referenced by LaserSensorThread::loop().

◆ lock_if_new_data()

bool LaserAcquisitionThread::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.

Returns
true if the lock was acquired and there is new data, false otherwise

Definition at line 105 of file acquisition_thread.cpp.

References _data_mutex, _new_data, fawkes::Mutex::lock(), and fawkes::Mutex::unlock().

Referenced by LaserSensorThread::loop().

◆ pre_init()

void LaserAcquisitionThread::pre_init ( fawkes::Configuration config,
fawkes::Logger logger 
)
pure virtual

Pre initialization.

This method is called by the sensor thread for pre-initialization. After this method has been executed the methods get_distances_data_size() and get_echo_data_size() must return valid data.

Parameters
configconfiguration
loggerlogger instance

Implemented in HokuyoUrgGbxAcquisitionThread, HokuyoUrgAcquisitionThread, LaseEdlAcquisitionThread, and SickTiM55xCommonAcquisitionThread.

Referenced by LaserSensorThread::init().

◆ reset_distances()

void LaserAcquisitionThread::reset_distances ( )
protected

◆ reset_echoes()

void LaserAcquisitionThread::reset_echoes ( )
protected

Reset all distance values to NaN.

Definition at line 227 of file acquisition_thread.cpp.

References _echoes, and _echoes_size.

Referenced by SickTiM55xEthernetAcquisitionThread::loop(), and SickTiM55xUSBAcquisitionThread::loop().

◆ run()

virtual void LaserAcquisitionThread::run ( )
inlineprotectedvirtual

Stub to see name in backtrace for easier debugging.

See also
Thread::run()

Reimplemented from fawkes::Thread.

Definition at line 62 of file acquisition_thread.h.

References fawkes::Thread::run().

◆ unlock()

void LaserAcquisitionThread::unlock ( )

Unlock data,.

Definition at line 119 of file acquisition_thread.cpp.

References _data_mutex, and fawkes::Mutex::unlock().

Referenced by LaserSensorThread::loop().

Member Data Documentation

◆ _data_mutex

◆ _distances

◆ _distances_size

◆ _echoes

float * LaserAcquisitionThread::_echoes
protected

◆ _echoes_size

unsigned int LaserAcquisitionThread::_echoes_size
protected

◆ _new_data

bool LaserAcquisitionThread::_new_data
protected

◆ _timestamp


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