Fawkes API  Fawkes Development Version
sensor_thread.cpp
1 
2 /***************************************************************************
3  * sensor_thread.cpp - Roomba plugin sensor thread
4  *
5  * Created: Mon Jan 03 00:05:32 2011
6  * Copyright 2006-2010 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 #include "sensor_thread.h"
24 #include "thread_roomba_500.h"
25 
26 using namespace fawkes;
27 
28 /** @class RoombaSensorThread "sensor_thread.h"
29  * Roomba sensor hook integration thread.
30  * This thread integrates into the Fawkes main loop at the SENSOR hook and
31  * triggers the Roomba thread to write new sensor data.
32  * @author Tim Niemueller
33  */
34 
35 /** Constructor.
36  * @param roomba500_thread Roomba 500 thread to trigger to write to blackboard.
37  */
39  : Thread("RoombaSensorThread", Thread::OPMODE_WAITFORWAKEUP),
40  BlockedTimingAspect(BlockedTimingAspect::WAKEUP_HOOK_SENSOR_ACQUIRE)
41 {
42  __roomba500_thread = roomba500_thread;
43 }
44 
45 
46 
47 void
49 {
50  try {
51  __roomba500_thread->write_blackboard();
52  } catch (Exception &e) {
53  logger->log_warn(name(), "%s failed to write to BB, exception follows.",
54  __roomba500_thread->name());
55  logger->log_warn(name(), e);
56  }
57 }
Fawkes library namespace.
Thread class encapsulation of pthreads.
Definition: thread.h:42
Logger * logger
This is the Logger member used to access the logger.
Definition: logging.h:44
void write_blackboard()
Write data to blackboard.
Thread aspect to use blocked timing.
Base class for exceptions in Fawkes.
Definition: exception.h:36
Roomba 500 integration thread.
virtual void loop()
Code to execute in the thread.
const char * name() const
Get name of thread.
Definition: thread.h:95
virtual void log_warn(const char *component, const char *format,...)=0
Log warning message.
RoombaSensorThread(Roomba500Thread *roomba500_thread)
Constructor.