Fawkes API
Fawkes Development Version
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00001 00002 /*************************************************************************** 00003 * sensor_thread.cpp - Roomba plugin sensor thread 00004 * 00005 * Created: Mon Jan 03 00:05:32 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 #include "sensor_thread.h" 00024 #include "thread_roomba_500.h" 00025 00026 using namespace fawkes; 00027 00028 /** @class RoombaSensorThread "sensor_thread.h" 00029 * Roomba sensor hook integration thread. 00030 * This thread integrates into the Fawkes main loop at the SENSOR hook and 00031 * triggers the Roomba thread to write new sensor data. 00032 * @author Tim Niemueller 00033 */ 00034 00035 /** Constructor. 00036 * @param roomba500_thread Roomba 500 thread to trigger to write to blackboard. 00037 */ 00038 RoombaSensorThread::RoombaSensorThread(Roomba500Thread *roomba500_thread) 00039 : Thread("RoombaSensorThread", Thread::OPMODE_WAITFORWAKEUP), 00040 BlockedTimingAspect(BlockedTimingAspect::WAKEUP_HOOK_SENSOR_ACQUIRE) 00041 { 00042 __roomba500_thread = roomba500_thread; 00043 } 00044 00045 00046 00047 void 00048 RoombaSensorThread::loop() 00049 { 00050 try { 00051 __roomba500_thread->write_blackboard(); 00052 } catch (Exception &e) { 00053 logger->log_warn(name(), "%s failed to write to BB, exception follows.", 00054 __roomba500_thread->name()); 00055 logger->log_warn(name(), e); 00056 } 00057 }