Fawkes API
Fawkes Development Version
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Katana linear goto thread. More...
#include "goto_thread.h"
Public Member Functions | |
KatanaGotoThread (fawkes::RefPtr< fawkes::KatanaController > katana, fawkes::Logger *logger, unsigned int poll_interval_ms) | |
Constructor. More... | |
virtual void | set_target (float x, float y, float z, float phi, float theta, float psi) |
Set target position. More... | |
virtual void | once () |
Execute an action exactly once. More... | |
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KatanaMotionThread (const char *thread_name, fawkes::RefPtr< fawkes::KatanaController > katana, fawkes::Logger *logger) | |
Constructor. More... | |
bool | finished () const |
Did the motion finish already? More... | |
virtual void | reset () |
Reset for next execution. More... | |
unsigned int | error_code () const |
Error code. More... | |
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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... | |
Additional Inherited Members | |
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enum | OpMode { OPMODE_CONTINUOUS, OPMODE_WAITFORWAKEUP } |
Thread operation mode. More... | |
enum | CancelState { CANCEL_ENABLED, CANCEL_DISABLED } |
Cancel state. More... | |
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static Thread * | current_thread () |
Get the Thread instance of the currently running thread. More... | |
static Thread * | current_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... | |
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static const unsigned int | FLAG_BAD = 0x00000001 |
Standard thread flag: "thread is bad". More... | |
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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 | loop () |
Code to execute in the thread. More... | |
bool | wakeup_pending () |
Check if wakeups are pending. More... | |
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fawkes::RefPtr< fawkes::KatanaController > | _katana |
Katana object for interaction with the arm. More... | |
bool | _finished |
Set to true when motion is finished, to false on reset. More... | |
fawkes::Logger * | _logger |
Logger. More... | |
unsigned int | _error_code |
Set to the desired error code on error. More... | |
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bool | finalize_prepared |
True if prepare_finalize() has been called and was not stopped with a cancel_finalize(), false otherwise. More... | |
Mutex * | loop_mutex |
Mutex that is used to protect a call to loop(). More... | |
Mutex * | loopinterrupt_antistarve_mutex |
Mutex to avoid starvation when trying to lock loop_mutex. More... | |
Katana linear goto thread.
This thread moves the arm into a specified position.
Definition at line 30 of file goto_thread.h.
KatanaGotoThread::KatanaGotoThread | ( | fawkes::RefPtr< fawkes::KatanaController > | katana, |
fawkes::Logger * | logger, | ||
unsigned int | poll_interval_ms | ||
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Constructor.
katana | katana controller base class |
logger | logger |
poll_interval_ms | interval in ms between two checks if the final position has been reached |
Definition at line 45 of file goto_thread.cpp.
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virtual |
Execute an action exactly once.
This code is executed once and only once right after the thread is started before loop() is called. This is useful if you want to implement an one-shot background job. Just implement once() and leave loop() untouched. Start the thread and detach it and it will just do its job and then die automatically. If you use set_delete_on_exit(true) even the Thread instance will be automatically deleted.
Reimplemented from fawkes::Thread.
Definition at line 75 of file goto_thread.cpp.
References KatanaMotionThread::_error_code, KatanaMotionThread::_finished, KatanaMotionThread::_katana, KatanaMotionThread::_logger, fawkes::KatanaInterface::ERROR_CMD_START_FAILED, fawkes::KatanaInterface::ERROR_COMMUNICATION, fawkes::KatanaInterface::ERROR_MOTOR_CRASHED, fawkes::KatanaInterface::ERROR_NO_SOLUTION, fawkes::KatanaController::final(), fawkes::Logger::log_debug(), fawkes::Logger::log_warn(), fawkes::KatanaController::move_to(), fawkes::Thread::name(), fawkes::KatanaController::read_motor_data(), fawkes::KatanaController::read_sensor_data(), and fawkes::Exception::what().
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virtual |
Set target position.
x | X coordinate relative to base |
y | Y coordinate relative to base |
z | Z coordinate relative to base |
phi | Phi Euler angle of tool |
theta | Theta Euler angle of tool |
psi | Psi Euler angle of tool |
Definition at line 63 of file goto_thread.cpp.
Referenced by KatanaActThread::loop().