Fawkes API  Fawkes Development Version
exec_thread.h
00001 
00002 /***************************************************************************
00003  *  exec_thread.h - Fawkes Skiller: Execution Thread
00004  *
00005  *  Created: Mon Feb 18 10:28:38 2008
00006  *  Copyright  2006-2011  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_SKILLER_EXEC_THREAD_H_
00024 #define __PLUGINS_SKILLER_EXEC_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/clock.h>
00031 #include <aspect/blackboard.h>
00032 #ifdef HAVE_TF
00033 #  include <aspect/tf.h>
00034 #endif
00035 #include <utils/system/fam.h>
00036 #include <blackboard/interface_listener.h>
00037 
00038 #include <string>
00039 #include <cstdlib>
00040 
00041 namespace fawkes {
00042   class ComponentLogger;
00043   class Mutex;
00044   class LuaContext;
00045   class LuaInterfaceImporter;
00046   class Interface;
00047   class SkillerInterface;
00048   class SkillerDebugInterface;
00049 #ifdef SKILLER_TIMETRACKING
00050   class TimeTracker;
00051 #endif
00052 }
00053 
00054 class SkillerExecutionThread
00055 : public fawkes::Thread,
00056   public fawkes::BlockedTimingAspect,
00057   public fawkes::LoggingAspect,
00058   public fawkes::BlackBoardAspect,
00059   public fawkes::ConfigurableAspect,
00060   public fawkes::ClockAspect,
00061 #ifdef HAVE_TF
00062   public fawkes::TransformAspect,
00063 #endif
00064   public fawkes::BlackBoardInterfaceListener
00065 {
00066  public:
00067   SkillerExecutionThread();
00068   virtual ~SkillerExecutionThread();
00069 
00070   virtual void init();
00071   virtual void loop();
00072   virtual void finalize();
00073 
00074   /* BlackBoardInterfaceListener */
00075   void bb_interface_reader_removed(fawkes::Interface *interface,
00076                                    unsigned int instance_serial) throw();
00077 
00078  /** Stub to see name in backtrace for easier debugging. @see Thread::run() */
00079  protected: virtual void run() { Thread::run(); }
00080 
00081  private: /* methods */
00082   void init_failure_cleanup();
00083   void publish_skill_status(std::string &curss);
00084   void publish_skdbg();
00085   void publish_error();
00086   void process_skdbg_messages();
00087   void lua_loop_reset();
00088 
00089  private: /* members */
00090   fawkes::ComponentLogger *__clog;
00091 
00092   unsigned int __last_exclusive_controller;
00093   bool         __reader_just_left;
00094 
00095   bool        __continuous_run;
00096   bool        __continuous_reset;
00097   bool        __error_written;
00098   bool        __sksf_pushed;
00099 
00100   std::string __skdbg_what;
00101   std::string __skdbg_graphdir;
00102   bool        __skdbg_graphcolored;
00103 
00104   // config values
00105   std::string __cfg_skillspace;
00106   bool        __cfg_watch_files;
00107 
00108   fawkes::SkillerInterface      *__skiller_if;
00109   fawkes::SkillerDebugInterface *__skdbg_if;
00110 
00111   fawkes::LuaContext  *__lua;
00112   fawkes::LuaInterfaceImporter  *__lua_ifi;
00113 
00114 #ifdef SKILLER_TIMETRACKING
00115   fawkes::TimeTracker *__tt;
00116   unsigned int         __ttc_total;
00117   unsigned int         __ttc_msgproc;
00118   unsigned int         __ttc_luaprep;
00119   unsigned int         __ttc_luaexec;
00120   unsigned int         __ttc_publish;
00121   unsigned int         __tt_loopcount;
00122 #endif
00123 };
00124 
00125 #endif