Fawkes API  Fawkes Development Version
sensor_thread.h
1 
2 /***************************************************************************
3  * sensor_thread.h - IMU thread that pushes data into the interface
4  *
5  * Created: Sun Jun 22 19:34:03 2014
6  * Copyright 2006-2014 Tim Niemueller [www.niemueller.de]
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_IMU_SENSOR_THREAD_H_
24 #define __PLUGINS_IMU_SENSOR_THREAD_H_
25 
26 #include <core/threading/thread.h>
27 #include <aspect/blocked_timing.h>
28 #include <aspect/logging.h>
29 #include <aspect/configurable.h>
30 #include <aspect/blackboard.h>
31 
32 #include <string>
33 
34 namespace fawkes {
35  class IMUInterface;
36 }
37 
39 
41 : public fawkes::Thread,
43  public fawkes::LoggingAspect,
46 {
47  public:
48  IMUSensorThread(std::string &cfg_name, std::string &cfg_prefix,
50 
51  virtual void init();
52  virtual void finalize();
53  virtual void loop();
54 
55  /** Stub to see name in backtrace for easier debugging. @see Thread::run() */
56  protected: virtual void run() { Thread::run(); }
57 
58  private:
59  fawkes::IMUInterface *imu_if_;
60 
62 
63  std::string cfg_name_;
64  std::string cfg_frame_;
65  std::string cfg_prefix_;
66 };
67 
68 
69 #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
IMU acqusition thread.
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.
Definition: sensor_thread.h:56
Thread aspect to access configuration data.
Definition: configurable.h:35
IMUInterface Fawkes BlackBoard Interface.
Definition: IMUInterface.h:33
IMU sensor thread.
Definition: sensor_thread.h:40