Fawkes API
Fawkes Development Version
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00001 00002 /*************************************************************************** 00003 * wm_thread.h - Fawkes WorldModel Plugin Thread 00004 * 00005 * Created: Fri Jun 29 11:54:58 2007 (on flight to RoboCup 2007, Atlanta) 00006 * Copyright 2006-2007 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_WORLDMODEL_WM_THREAD_H_ 00024 #define __PLUGINS_WORLDMODEL_WM_THREAD_H_ 00025 00026 #include <core/threading/thread.h> 00027 #include <core/utils/lock_list.h> 00028 #include <aspect/blocked_timing.h> 00029 #include <aspect/logging.h> 00030 #include <aspect/configurable.h> 00031 #include <aspect/blackboard.h> 00032 #include <aspect/network.h> 00033 #include <aspect/clock.h> 00034 00035 namespace fawkes { 00036 class WorldInfoTransceiver; 00037 class ObjectPositionInterface; 00038 } 00039 00040 class WorldModelNetworkThread; 00041 class WorldModelFuser; 00042 00043 class WorldModelThread 00044 : public fawkes::Thread, 00045 public fawkes::BlockedTimingAspect, 00046 public fawkes::LoggingAspect, 00047 public fawkes::ConfigurableAspect, 00048 public fawkes::BlackBoardAspect, 00049 public fawkes::ClockAspect, 00050 public fawkes::NetworkAspect 00051 { 00052 public: 00053 WorldModelThread(WorldModelNetworkThread *net_thread); 00054 virtual ~WorldModelThread(); 00055 00056 virtual void init(); 00057 virtual void loop(); 00058 virtual void finalize(); 00059 00060 void init_failure_cleanup(); 00061 00062 /** Stub to see name in backtrace for easier debugging. @see Thread::run() */ 00063 protected: virtual void run() { Thread::run(); } 00064 00065 private: 00066 std::string __cfg_confspace; 00067 00068 WorldModelNetworkThread *__net_thread; 00069 00070 std::list<WorldModelFuser *> __fusers; 00071 std::list<WorldModelFuser *>::iterator __fit; 00072 00073 bool __wi_send_enabled; 00074 unsigned int __wi_send_interval; 00075 unsigned int __wi_send_counter; 00076 00077 fawkes::ObjectPositionInterface* __wi_send_ball; 00078 fawkes::ObjectPositionInterface* __wi_send_pose; 00079 }; 00080 00081 00082 #endif