Fawkes API  Fawkes Development Version
sensor_thread.h
00001 
00002 /***************************************************************************
00003  *  sensor_thread.h - Roomba plugin sensor thread
00004  *
00005  *  Created: Mon Jan 03 00:03:42 2011
00006  *  Copyright  2006-2010  Tim Niemueller [www.niemueller.de]
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_ROOMBA_SENSOR_THREAD_H_
00024 #define __PLUGINS_ROOMBA_SENSOR_THREAD_H_
00025 
00026 #include <core/threading/thread.h>
00027 #include <aspect/blocked_timing.h>
00028 #include <aspect/logging.h>
00029 
00030 class Roomba500Thread;
00031 
00032 class RoombaSensorThread
00033 : public fawkes::Thread,
00034   public fawkes::BlockedTimingAspect,
00035   public fawkes::LoggingAspect
00036 {
00037  public:
00038   RoombaSensorThread(Roomba500Thread *roomba500_thread);
00039 
00040   virtual void loop();
00041 
00042  /** Stub to see name in backtrace for easier debugging. @see Thread::run() */
00043  protected: virtual void run() { Thread::run(); }
00044 
00045  private:
00046   Roomba500Thread *__roomba500_thread;
00047 };
00048 
00049 
00050 #endif