Fawkes API  Fawkes Development Version
message_handler_thread.h
00001 
00002 /***************************************************************************
00003  *  message_handler_thread.h - OpenRAVE interface messages handler thread
00004  *
00005  *  Created: Fri Feb 25 15:08:00 2011
00006  *  Copyright  2011  Bahram Maleki-Fard
00007  *
00008  ****************************************************************************/
00009 
00010 /*  This program is free software; you can redistribute it and/or modify
00011  *  it under the terms of the GNU General Public License as published by
00012  *  the Free Software Foundation; either version 2 of the License, or
00013  *  (at your option) any later version.
00014  *
00015  *  This program is distributed in the hope that it will be useful,
00016  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
00017  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00018  *  GNU Library General Public License for more details.
00019  *
00020  *  Read the full text in the LICENSE.GPL file in the doc directory.
00021  */
00022 
00023 #ifndef __PLUGINS_OPENRAVE_MESSAGE_HANDLER_THREAD_H_
00024 #define __PLUGINS_OPENRAVE_MESSAGE_HANDLER_THREAD_H_
00025 
00026 #include "openrave_thread.h"
00027 
00028 #include <core/threading/thread.h>
00029 #include <aspect/logging.h>
00030 #include <aspect/configurable.h>
00031 #include <aspect/blocked_timing.h>
00032 #include <aspect/blackboard.h>
00033 
00034 namespace fawkes {
00035   class OpenRaveInterface;
00036 }
00037 
00038 class OpenRaveMessageHandlerThread
00039 : public fawkes::Thread,
00040   public fawkes::LoggingAspect,
00041   public fawkes::ConfigurableAspect,
00042   public fawkes::BlockedTimingAspect,
00043   public fawkes::BlackBoardAspect
00044 {
00045  public:
00046   OpenRaveMessageHandlerThread(OpenRaveThread* or_thread);
00047   virtual ~OpenRaveMessageHandlerThread();
00048 
00049   virtual void init();
00050   virtual void loop();
00051   virtual void finalize();
00052 
00053  /** Stub to see name in backtrace for easier debugging. @see Thread::run() */
00054  protected: virtual void run() { Thread::run(); }
00055 
00056  private:
00057   OpenRaveThread*               __or_thread;
00058   fawkes::OpenRaveInterface*    __if_openrave;
00059 };
00060 
00061 #endif