Fawkes API
Fawkes Development Version
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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