Fawkes API
Fawkes Development Version
|
00001 00002 /*************************************************************************** 00003 * sensor_thread.h - Laser thread that puses data into the interface 00004 * 00005 * Created: Wed Oct 08 13:32:34 2008 00006 * Copyright 2006-2008 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_LASER_SENSOR_THREAD_H_ 00024 #define __PLUGINS_LASER_SENSOR_THREAD_H_ 00025 00026 #include <core/threading/thread.h> 00027 #include <aspect/blocked_timing.h> 00028 #include <aspect/logging.h> 00029 #include <aspect/configurable.h> 00030 #include <aspect/blackboard.h> 00031 00032 #include <string> 00033 00034 namespace fawkes { 00035 class Laser360Interface; 00036 class Laser720Interface; 00037 } 00038 00039 class LaserAcquisitionThread; 00040 00041 class LaserSensorThread 00042 : public fawkes::Thread, 00043 public fawkes::BlockedTimingAspect, 00044 public fawkes::LoggingAspect, 00045 public fawkes::ConfigurableAspect, 00046 public fawkes::BlackBoardAspect 00047 { 00048 public: 00049 LaserSensorThread(std::string &cfg_name, std::string &cfg_prefix, 00050 LaserAcquisitionThread *aqt); 00051 00052 virtual void init(); 00053 virtual void finalize(); 00054 virtual void loop(); 00055 00056 /** Stub to see name in backtrace for easier debugging. @see Thread::run() */ 00057 protected: virtual void run() { Thread::run(); } 00058 00059 private: 00060 fawkes::Laser360Interface *__laser360_if; 00061 fawkes::Laser720Interface *__laser720_if; 00062 00063 LaserAcquisitionThread *__aqt; 00064 00065 unsigned int __num_values; 00066 00067 std::string __cfg_name; 00068 std::string __cfg_frame; 00069 std::string __cfg_prefix; 00070 }; 00071 00072 00073 #endif