Fawkes API  Fawkes Development Version
RosJointThread Class Reference

Thread to publish JointStates to ROS. More...

#include "joint_thread.h"

Inheritance diagram for RosJointThread:

Public Member Functions

 RosJointThread ()
 Constructor. More...
 
virtual ~RosJointThread ()
 Destructor. More...
 
virtual void init ()
 Initialize the thread. More...
 
virtual void finalize ()
 Finalize the thread. More...
 
virtual void bb_interface_created (const char *type, const char *id) throw ()
 BlackBoard interface created notification. More...
 
virtual void bb_interface_writer_removed (fawkes::Interface *interface, unsigned int instance_serial) throw ()
 A writing instance has been closed for a watched interface. More...
 
virtual void bb_interface_reader_removed (fawkes::Interface *interface, unsigned int instance_serial) throw ()
 A reading instance has been closed for a watched interface. More...
 
virtual void bb_interface_data_changed (fawkes::Interface *interface) throw ()
 BlackBoard data changed notification. More...
 
- Public Member Functions inherited from fawkes::Thread
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...
 
- 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::BlackBoardAspect
 BlackBoardAspect (const char *owner=NULL)
 Constructor. More...
 
virtual ~BlackBoardAspect ()
 Virtual empty destructor. More...
 
void init_BlackBoardAspect (BlackBoard *bb)
 Init BlackBoard aspect. More...
 
- Public Member Functions inherited from fawkes::ROSAspect
 ROSAspect ()
 Constructor. More...
 
virtual ~ROSAspect ()
 Virtual empty destructor. More...
 
- Public Member Functions inherited from fawkes::BlackBoardInterfaceObserver
 BlackBoardInterfaceObserver ()
 Empty constructor. More...
 
virtual ~BlackBoardInterfaceObserver ()
 Destructor. More...
 
virtual void bb_interface_destroyed (const char *type, const char *id) throw ()
 BlackBoard interface destroyed notification. More...
 
- Public Member Functions inherited from fawkes::BlackBoardInterfaceListener
 BlackBoardInterfaceListener (const char *name_format,...)
 Constructor. More...
 
virtual ~BlackBoardInterfaceListener ()
 Destructor. More...
 
const char * bbil_name () const
 Get BBIL name. More...
 
virtual bool bb_interface_message_received (Interface *interface, Message *message) throw ()
 BlackBoard message received notification. More...
 
virtual void bb_interface_writer_added (Interface *interface, unsigned int instance_serial) throw ()
 A writing instance has been opened for a watched interface. More...
 
virtual void bb_interface_reader_added (Interface *interface, unsigned int instance_serial) throw ()
 A reading instance has been opened for a watched interface. 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...
 
- Public Types inherited from fawkes::BlackBoardInterfaceListener
enum  QueueEntryType { DATA = 0, MESSAGES = 1, READER = 2, WRITER = 3 }
 Queue entry type. More...
 
typedef std::list< QueueEntryInterfaceQueue
 Queue of additions/removal of interfaces. More...
 
typedef std::map< std::string, Interface * > InterfaceMap
 Map of currently active event subscriptions. 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 Types inherited from fawkes::BlackBoardInterfaceObserver
typedef LockMap< std::string, std::list< std::string > > ObservedInterfaceLockMap
 Type for lockable interface type hash sets. More...
 
typedef ObservedInterfaceLockMap::iterator ObservedInterfaceLockMapIterator
 Type for iterator of lockable interface type hash sets. 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...
 
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 Member Functions inherited from fawkes::BlackBoardInterfaceObserver
void bbio_add_observed_create (const char *type_pattern, const char *id_pattern="*") throw ()
 Add interface creation type to watch list. More...
 
void bbio_add_observed_destroy (const char *type_pattern, const char *id_pattern="*") throw ()
 Add interface destruction type to watch list. More...
 
ObservedInterfaceLockMapbbio_get_observed_create () throw ()
 Get interface creation type watch list. More...
 
ObservedInterfaceLockMapbbio_get_observed_destroy () throw ()
 Get interface destriction type watch list. More...
 
- Protected Member Functions inherited from fawkes::BlackBoardInterfaceListener
void bbil_add_data_interface (Interface *interface)
 Add an interface to the data modification watch list. More...
 
void bbil_add_message_interface (Interface *interface)
 Add an interface to the message received watch list. More...
 
void bbil_add_reader_interface (Interface *interface)
 Add an interface to the reader addition/removal watch list. More...
 
void bbil_add_writer_interface (Interface *interface)
 Add an interface to the writer addition/removal watch list. More...
 
void bbil_remove_data_interface (Interface *interface)
 Remove an interface to the data modification watch list. More...
 
void bbil_remove_message_interface (Interface *interface)
 Remove an interface to the message received watch list. More...
 
void bbil_remove_reader_interface (Interface *interface)
 Remove an interface to the reader addition/removal watch list. More...
 
void bbil_remove_writer_interface (Interface *interface)
 Remove an interface to the writer addition/removal watch list. More...
 
Interfacebbil_data_interface (const char *iuid) throw ()
 Get interface instance for given UID. More...
 
Interfacebbil_message_interface (const char *iuid) throw ()
 Get interface instance for given UID. More...
 
Interfacebbil_reader_interface (const char *iuid) throw ()
 Get interface instance for given UID. More...
 
Interfacebbil_writer_interface (const char *iuid) throw ()
 Get interface instance for given UID. 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::BlackBoardAspect
BlackBoardblackboard
 This is the BlackBoard instance you can use to interact with the BlackBoard. More...
 
- Protected Attributes inherited from fawkes::ROSAspect
LockPtr< ros::NodeHandle > rosnode
 Central ROS node handle. More...
 

Detailed Description

Thread to publish JointStates to ROS.

This thread reads all Joint Blackboard Interfaces and publishes every joint to ROS.

Author
Till Hofmann

Definition at line 41 of file joint_thread.h.

Constructor & Destructor Documentation

◆ RosJointThread()

RosJointThread::RosJointThread ( )

Constructor.

Definition at line 37 of file joint_thread.cpp.

◆ ~RosJointThread()

RosJointThread::~RosJointThread ( )
virtual

Destructor.

Definition at line 44 of file joint_thread.cpp.

Member Function Documentation

◆ bb_interface_created()

void RosJointThread::bb_interface_created ( const char *  type,
const char *  id 
)
throw (
)
virtual

BlackBoard interface created notification.

This is called whenever an interface is created for a type that you registered for.

Parameters
typetype of the interface. If you want to store this make a copy as it is not guaranteed that the supplied string exists for longer than the duration of the method call
idID of the newly created interface. If you want to store this make a copy as it is not guaranteed that the supplied string exists for longer than the duration of the method call

Reimplemented from fawkes::BlackBoardInterfaceObserver.

Definition at line 77 of file joint_thread.cpp.

References fawkes::BlackBoardInterfaceListener::bbil_add_data_interface(), fawkes::BlackBoardAspect::blackboard, fawkes::BlackBoard::close(), fawkes::Logger::log_warn(), fawkes::LoggingAspect::logger, fawkes::Thread::name(), fawkes::BlackBoard::update_listener(), and fawkes::Exception::what().

◆ bb_interface_data_changed()

void RosJointThread::bb_interface_data_changed ( fawkes::Interface interface)
throw (
)
virtual

BlackBoard data changed notification.

This is called whenever the data in an interface that you registered for is modified. This happens if a writer calls the Interface::write() method.

Parameters
interfaceinterface instance that you supplied to bbil_add_data_interface()

Reimplemented from fawkes::BlackBoardInterfaceListener.

Definition at line 138 of file joint_thread.cpp.

References fawkes::Interface::id(), fawkes::JointInterface::position(), fawkes::Interface::read(), and fawkes::JointInterface::velocity().

◆ bb_interface_reader_removed()

void RosJointThread::bb_interface_reader_removed ( fawkes::Interface interface,
unsigned int  instance_serial 
)
throw (
)
virtual

A reading instance has been closed for a watched interface.

This is called whenever a reading instance of an interface you are watching is closed.

Parameters
interfaceinterface instance that you supplied to bbil_add_reader_interface()
instance_serialthe instance serial of the reading instance that has just been removed.

Reimplemented from fawkes::BlackBoardInterfaceListener.

Definition at line 108 of file joint_thread.cpp.

References fawkes::BlackBoardInterfaceListener::bbil_remove_data_interface(), fawkes::BlackBoardAspect::blackboard, fawkes::BlackBoard::close(), fawkes::Interface::has_writer(), fawkes::Interface::num_readers(), and fawkes::BlackBoard::update_listener().

◆ bb_interface_writer_removed()

void RosJointThread::bb_interface_writer_removed ( fawkes::Interface interface,
unsigned int  instance_serial 
)
throw (
)
virtual

A writing instance has been closed for a watched interface.

This is called whenever a writing instance of an interface you are watching is closed.

Parameters
interfaceinterface instance that you supplied to bbil_add_writer_interface()
instance_serialthe instance serial of the writing instance that has just been removed.

Reimplemented from fawkes::BlackBoardInterfaceListener.

Definition at line 99 of file joint_thread.cpp.

◆ finalize()

void RosJointThread::finalize ( )
virtual

Finalize the thread.

This method is executed just before the thread is canceled and destroyed. It is always preceeded by a call to prepare_finalize(). If this is not the case this is a failure. The condition can be checked with the boolean variable finalize_prepared.

This method is meant to be used in conjunction with aspects and to cover thread inter-dependencies. This routine MUST bring the thread into a safe state such that it may be canceled and destroyed afterwards. If there is any reason that this cannot happen make your prepare_finalize() reports so.

This method is called by the thread manager just before the thread is being cancelled. Here you can do whatever steps are necessary just before the thread is cancelled. Note that you thread is still running and might be in the middle of a loop, so it is not a good place to give up on all resources used. Mind segmentation faults that could happen. Protect the area with a mutex that you lock at the beginning of your loop and free in the end, and that you lock at the beginning of finalize and then never unlock. Also not that the finalization may be canceled afterwards. The next thing that happens is that either the thread is canceled and destroyed or that the finalization is canceled and the thread has to run again.

Finalize is called on a thread just before it is deleted. It is guaranteed to be called on a fully initialized thread (if no exception is thrown in init()) (this guarantee holds in the Fawkes framework).

The default implementation does nothing besides throwing an exception if prepare_finalize() has not been called.

Exceptions
Exceptionthrown if prepare_finalize() has not been called.
See also
prepare_finalize()
cancel_finalize()

Reimplemented from fawkes::Thread.

Definition at line 66 of file joint_thread.cpp.

References fawkes::BlackBoardAspect::blackboard, fawkes::BlackBoard::close(), fawkes::BlackBoard::unregister_listener(), and fawkes::BlackBoard::unregister_observer().

◆ init()

void RosJointThread::init ( )
virtual

Initialize the thread.

This method is meant to be used in conjunction with aspects. Some parts of the initialization may only happen after some aspect of the thread has been initialized. Implement the init method with these actions. It is guaranteed to be called just after all aspects have been initialized and only once in the lifetime of the thread. Throw an exception if any problem occurs and the thread should not run.

Just because your init() routine suceeds and everything looks fine for this thread does not automatically imply that it will run. If it belongs to a group of threads in a ThreadList and any of the other threads fail to initialize then no thread from this group is run and thus this thread will never run. In that situation finalize() is called for this very instance, prepare_finalize() however is not called.

See also
Fawkes Thread Aspects

Reimplemented from fawkes::Thread.

Definition at line 49 of file joint_thread.cpp.

References fawkes::BlackBoardInterfaceListener::bbil_add_data_interface(), fawkes::BlackBoardInterfaceObserver::bbio_add_observed_create(), fawkes::BlackBoardAspect::blackboard, fawkes::BlackBoard::open_multiple_for_reading(), fawkes::BlackBoard::register_listener(), fawkes::BlackBoard::register_observer(), and fawkes::ROSAspect::rosnode.


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