Fawkes API  Fawkes Development Version
motion_thread.h
00001 
00002 /***************************************************************************
00003  *  motion_thread.h - Katana one-time thread interface for motions
00004  *
00005  *  Created: Wed Jun 10 11:20:18 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_MOTION_THREAD_H_
00024 #define __PLUGINS_KATANA_MOTION_THREAD_H_
00025 
00026 #include <core/threading/thread.h>
00027 #include <logging/logger.h>
00028 #include <core/utils/refptr.h>
00029 #include <interfaces/KatanaInterface.h>
00030 
00031 #include <unistd.h>
00032 
00033 namespace fawkes {
00034   class KatanaController;
00035 }
00036 
00037 class KatanaMotionThread
00038 : public fawkes::Thread
00039 {
00040  public:
00041   KatanaMotionThread(const char *thread_name,
00042                      fawkes::RefPtr<fawkes::KatanaController> katana, fawkes::Logger *logger);
00043 
00044   bool finished() const;
00045   virtual void reset();
00046   unsigned int error_code() const;
00047 
00048  protected:
00049   /** Katana object for interaction with the arm */
00050   fawkes::RefPtr<fawkes::KatanaController>  _katana;
00051   /** Set to true when motion is finished, to false on reset */
00052   bool                     _finished;
00053   /** Logger */
00054   fawkes::Logger          *_logger;
00055   /** Set to the desired error code on error */
00056   unsigned int             _error_code;
00057 
00058 };
00059 
00060 
00061 #endif