Fawkes API
Fawkes Development Version
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Katana motion thread base class. More...
#include "motion_thread.h"
Public Member Functions | |
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... | |
Protected Attributes | |
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... | |
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... | |
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... | |
Katana motion thread base class.
Base class for motion threads for the Katana.
When implementing a motion thread ensure that you read the sensor data during the communication with the arm. The main (act) thread will not do this as not to interfere with motion thread communication. You can use code like this:
Definition at line 35 of file motion_thread.h.
KatanaMotionThread::KatanaMotionThread | ( | const char * | thread_name, |
fawkes::RefPtr< fawkes::KatanaController > | katana, | ||
fawkes::Logger * | logger | ||
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Constructor.
thread_name | name of the thread |
katana | katana controller base class |
logger | logger |
Definition at line 45 of file motion_thread.cpp.
References _error_code, _finished, _katana, and _logger.
unsigned int KatanaMotionThread::error_code | ( | ) | const |
Error code.
Definition at line 72 of file motion_thread.cpp.
References _error_code.
Referenced by KatanaActThread::loop().
bool KatanaMotionThread::finished | ( | ) | const |
Did the motion finish already?
Definition at line 61 of file motion_thread.cpp.
References _finished.
Referenced by KatanaActThread::loop().
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Reset for next execution.
Resets _finished and _error_code. If you override this method call the base class method in your method. It should be used to do anything that is required to be able to run the thread again.
Definition at line 84 of file motion_thread.cpp.
References _error_code, and _finished.
Referenced by KatanaActThread::loop().
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protected |
Set to the desired error code on error.
Definition at line 54 of file motion_thread.h.
Referenced by error_code(), KatanaMotionThread(), KatanaCalibrationThread::once(), KatanaMotorControlThread::once(), KatanaGotoThread::once(), KatanaGripperThread::once(), and reset().
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protected |
Set to true when motion is finished, to false on reset.
Definition at line 50 of file motion_thread.h.
Referenced by finished(), KatanaMotionThread(), KatanaCalibrationThread::once(), KatanaMotorControlThread::once(), KatanaGotoThread::once(), KatanaGripperThread::once(), and reset().
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protected |
Katana object for interaction with the arm.
Definition at line 48 of file motion_thread.h.
Referenced by KatanaMotionThread(), KatanaCalibrationThread::once(), KatanaMotorControlThread::once(), KatanaGotoThread::once(), and KatanaGripperThread::once().
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Logger.
Definition at line 52 of file motion_thread.h.
Referenced by KatanaMotionThread(), KatanaCalibrationThread::once(), KatanaMotorControlThread::once(), KatanaGotoThread::once(), and KatanaGripperThread::once().