Fawkes API  Fawkes Development Version
gripper_thread.h
00001 
00002 /***************************************************************************
00003  *  gripper_thread.h - Katana gripper one-time thread
00004  *
00005  *  Created: Thu Jun 11 11:56:46 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 #ifndef __PLUGINS_KATANA_GRIPPER_THREAD_H_
00024 #define __PLUGINS_KATANA_GRIPPER_THREAD_H_
00025 
00026 #include "motion_thread.h"
00027 
00028 class KatanaGripperThread : public KatanaMotionThread
00029 {
00030  public:
00031   KatanaGripperThread(fawkes::RefPtr<fawkes::KatanaController> katana, fawkes::Logger *logger,
00032                       unsigned int poll_interval_ms);
00033 
00034   /** Gripper execution mode. */
00035   typedef enum {
00036     OPEN_GRIPPER,       /**< Open gripper */
00037     CLOSE_GRIPPER       /**< Close gripper */
00038   } gripper_mode_t;
00039 
00040   void set_mode(gripper_mode_t mode);
00041   virtual void once();
00042 
00043  /** Stub to see name in backtrace for easier debugging. @see Thread::run() */
00044  protected: virtual void run() { Thread::run(); }
00045 
00046  private:
00047   gripper_mode_t  __mode;
00048   unsigned int    __poll_interval_usec;
00049 };
00050 
00051 
00052 #endif