Fawkes API  Fawkes Development Version
message_handler_thread.h
1 
2 /***************************************************************************
3  * message_handler_thread.h - OpenRAVE interface messages handler thread
4  *
5  * Created: Fri Feb 25 15:08:00 2011
6  * Copyright 2011 Bahram Maleki-Fard
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_OPENRAVE_MESSAGE_HANDLER_THREAD_H_
24 #define __PLUGINS_OPENRAVE_MESSAGE_HANDLER_THREAD_H_
25 
26 #include "openrave_thread.h"
27 
28 #include <core/threading/thread.h>
29 #include <aspect/logging.h>
30 #include <aspect/configurable.h>
31 #include <aspect/blocked_timing.h>
32 #include <aspect/blackboard.h>
33 
34 namespace fawkes {
35  class OpenRaveInterface;
36 }
37 
39 : public fawkes::Thread,
40  public fawkes::LoggingAspect,
44 {
45  public:
48 
49  virtual void init();
50  virtual void loop();
51  virtual void finalize();
52 
53  /** Stub to see name in backtrace for easier debugging. @see Thread::run() */
54  protected: virtual void run() { Thread::run(); }
55 
56  private:
57  OpenRaveThread* __or_thread;
58  fawkes::OpenRaveInterface* __if_openrave;
59 };
60 
61 #endif
Thread aspect to access to BlackBoard.
Definition: blackboard.h:34
Fawkes library namespace.
virtual void run()
Code to execute in the thread.
Definition: thread.cpp:939
Thread class encapsulation of pthreads.
Definition: thread.h:42
Thread aspect to use blocked timing.
Thread aspect to log output.
Definition: logging.h:35
virtual void run()
Stub to see name in backtrace for easier debugging.
Thread aspect to access configuration data.
Definition: configurable.h:35
OpenRAVE Thread.
OpenRaveInterface Fawkes BlackBoard Interface.