Fawkes API
Fawkes Development Version
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00001 00002 /*************************************************************************** 00003 * sensor_thread.cpp - Katana plugin sensor thread 00004 * 00005 * Created: Fri Jun 12 15:00:33 2009 00006 * Copyright 2006-2009 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 #include "sensor_thread.h" 00024 00025 using namespace fawkes; 00026 00027 /** @class KatanaSensorThread "sensor_thread.h" 00028 * Katana sensor thread. 00029 * This thread integrates into the Fawkes main loop at the SENSOR hook and 00030 * triggers the act thread to retrieve and write new sensor data. 00031 * @author Tim Niemueller 00032 */ 00033 00034 /** Constructor. 00035 * @param act_thread Katana act thread instance to trigger for the sensor 00036 * update. 00037 */ 00038 KatanaSensorThread::KatanaSensorThread(KatanaActThread *act_thread) 00039 : Thread("KatanaSensorThread", Thread::OPMODE_WAITFORWAKEUP), 00040 BlockedTimingAspect(BlockedTimingAspect::WAKEUP_HOOK_SENSOR_ACQUIRE) 00041 { 00042 __act_thread = act_thread; 00043 } 00044 00045 void 00046 KatanaSensorThread::loop() 00047 { 00048 __act_thread->update_sensor_values(); 00049 }