Fawkes API
Fawkes Development Version
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00001 00002 /*************************************************************************** 00003 * message_handler_thread.h - OpenRAVE interface messages handler thread 00004 * 00005 * Created: Fri Feb 25 15:08:00 2011 00006 * Copyright 2011 Bahram Maleki-Fard 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_OPENRAVE_MESSAGE_HANDLER_THREAD_H_ 00024 #define __PLUGINS_OPENRAVE_MESSAGE_HANDLER_THREAD_H_ 00025 00026 #include "openrave_thread.h" 00027 00028 #include <core/threading/thread.h> 00029 #include <aspect/logging.h> 00030 #include <aspect/configurable.h> 00031 #include <aspect/blocked_timing.h> 00032 #include <aspect/blackboard.h> 00033 00034 namespace fawkes { 00035 class OpenRaveInterface; 00036 } 00037 00038 class OpenRaveMessageHandlerThread 00039 : public fawkes::Thread, 00040 public fawkes::LoggingAspect, 00041 public fawkes::ConfigurableAspect, 00042 public fawkes::BlockedTimingAspect, 00043 public fawkes::BlackBoardAspect 00044 { 00045 public: 00046 OpenRaveMessageHandlerThread(OpenRaveThread* or_thread); 00047 virtual ~OpenRaveMessageHandlerThread(); 00048 00049 virtual void init(); 00050 virtual void loop(); 00051 virtual void finalize(); 00052 00053 /** Stub to see name in backtrace for easier debugging. @see Thread::run() */ 00054 protected: virtual void run() { Thread::run(); } 00055 00056 private: 00057 OpenRaveThread* __or_thread; 00058 fawkes::OpenRaveInterface* __if_openrave; 00059 }; 00060 00061 #endif