Fawkes API  Fawkes Development Version
NaoQiDCMThread Class Reference

Thread to provide DCM to Fawkes. More...

#include "dcm_thread.h"

Inheritance diagram for NaoQiDCMThread:

List of all members.

Classes

class  HighFreqThread
 Thread to write data at full DCM frequency. More...

Public Member Functions

 NaoQiDCMThread ()
 Constructor.
virtual ~NaoQiDCMThread ()
 Destructor.
virtual void init ()
 Initialize the thread.
virtual void loop ()
 Code to execute in the thread.
virtual void finalize ()
 Finalize the thread.

Protected Member Functions

virtual void run ()
 Stub to see name in backtrace for easier debugging.

Detailed Description

Thread to provide DCM to Fawkes.

This thread opens a DCM proxy and updates information about hardware in the blackboard and provides basic setting functionality to move specific servos.

The DCM thread writes to two sets of interfaces, at a high and a lower frequency. The high frequency data is written if there is a reader at each DCM callback, which results in a frequency of about 100Hz. This should only be used if necessary, for example for custom motion pattern generating plugins. Otherwise, and especially if in a thread hooked into the main loop, use the lower frequency interfaces. These are written during the sensor hook.

Author:
Tim Niemueller

Constructor & Destructor Documentation

NaoQiDCMThread::NaoQiDCMThread ( )

Constructor.

Definition at line 178 of file dcm_thread.cpp.

NaoQiDCMThread::~NaoQiDCMThread ( ) [virtual]

Destructor.

Definition at line 186 of file dcm_thread.cpp.


Member Function Documentation

void NaoQiDCMThread::finalize ( ) [virtual]

Finalize the thread.

This method is executed just before the thread is canceled and destroyed. It is always preceeded by a call to prepare_finalize(). If this is not the case this is a failure. The condition can be checked with the boolean variable finalize_prepared.

This method is meant to be used in conjunction with aspects and to cover thread inter-dependencies. This routine MUST bring the thread into a safe state such that it may be canceled and destroyed afterwards. If there is any reason that this cannot happen make your prepare_finalize() reports so.

This method is called by the thread manager just before the thread is being cancelled. Here you can do whatever steps are necessary just before the thread is cancelled. Note that you thread is still running and might be in the middle of a loop, so it is not a good place to give up on all resources used. Mind segmentation faults that could happen. Protect the area with a mutex that you lock at the beginning of your loop and free in the end, and that you lock at the beginning of finalize and then never unlock. Also not that the finalization may be canceled afterwards. The next thing that happens is that either the thread is canceled and destroyed or that the finalization is canceled and the thread has to run again.

Finalize is called on a thread just before it is deleted. It is guaranteed to be called on a fully initialized thread (if no exception is thrown in init()) (this guarantee holds in the Fawkes framework).

The default implementation does nothing besides throwing an exception if prepare_finalize() has not been called.

Exceptions:
Exceptionthrown if prepare_finalize() has not been called.
See also:
prepare_finalize()
cancel_finalize()

Reimplemented from fawkes::Thread.

Definition at line 486 of file dcm_thread.cpp.

References fawkes::Thread::cancel(), fawkes::Thread::join(), fawkes::BlackBoardAspect::blackboard, and fawkes::BlackBoard::close().

void NaoQiDCMThread::init ( ) [virtual]

Initialize the thread.

This method is meant to be used in conjunction with aspects. Some parts of the initialization may only happen after some aspect of the thread has been initialized. Implement the init method with these actions. It is guaranteed to be called just after all aspects have been initialized and only once in the lifetime of the thread. Throw an exception if any problem occurs and the thread should not run.

Just because your init() routine suceeds and everything looks fine for this thread does not automatically imply that it will run. If it belongs to a group of threads in a ThreadList and any of the other threads fail to initialize then no thread from this group is run and thus this thread will never run. In that situation finalize() is called for this very instance, prepare_finalize() however is not called.

See also:
Fawkes Thread Aspects

Reimplemented from fawkes::Thread.

Definition at line 192 of file dcm_thread.cpp.

References fawkes::NaoQiAspect::naoqi_broker, fawkes::BlackBoardAspect::blackboard, fawkes::BlackBoard::open_for_writing(), fawkes::NaoJointPositionInterface::set_robot_type(), fawkes::NaoJointPositionInterface::set_robot_version(), and fawkes::Thread::start().

void NaoQiDCMThread::loop ( ) [virtual]

Code to execute in the thread.

Implement this method to hold the code you want to be executed continously. If you do not implement this method, the default is that the thread will exit. This is useful if you choose to only implement once().

Reimplemented from fawkes::Thread.

Definition at line 523 of file dcm_thread.cpp.

virtual void NaoQiDCMThread::run ( ) [inline, protected, virtual]

Stub to see name in backtrace for easier debugging.

See also:
Thread::run()

Reimplemented from fawkes::Thread.

Definition at line 69 of file dcm_thread.h.


The documentation for this class was generated from the following files: