Fawkes API
Fawkes Development Version
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00001 00002 /*************************************************************************** 00003 * act_thread.h - Robotino act thread 00004 * 00005 * Created: Sun Nov 13 16:05:34 2011 00006 * Copyright 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_ROBOTINO_ACT_THREAD_H_ 00024 #define __PLUGINS_ROBOTINO_ACT_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 #include <aspect/clock.h> 00032 #ifdef HAVE_TF 00033 # include <aspect/tf.h> 00034 #endif 00035 00036 #include <string> 00037 00038 namespace rec { 00039 namespace robotino { 00040 namespace com { 00041 class Com; 00042 class OmniDrive; 00043 } 00044 } 00045 } 00046 00047 namespace fawkes { 00048 class MotorInterface; 00049 } 00050 00051 class RobotinoSensorThread; 00052 00053 class RobotinoActThread 00054 : public fawkes::Thread, 00055 public fawkes::LoggingAspect, 00056 public fawkes::ConfigurableAspect, 00057 public fawkes::ClockAspect, 00058 #ifdef HAVE_TF 00059 public fawkes::TransformAspect, 00060 #endif 00061 public fawkes::BlockedTimingAspect, 00062 public fawkes::BlackBoardAspect 00063 { 00064 public: 00065 RobotinoActThread(RobotinoSensorThread *sensor_thread); 00066 00067 virtual void init(); 00068 virtual void loop(); 00069 virtual void finalize(); 00070 00071 /** Stub to see name in backtrace for easier debugging. @see Thread::run() */ 00072 protected: virtual void run() { Thread::run(); } 00073 00074 private: 00075 RobotinoSensorThread *sensor_thread_; 00076 rec::robotino::com::Com *com_; 00077 rec::robotino::com::OmniDrive *omni_drive_; 00078 unsigned int last_seqnum_; 00079 fawkes::MotorInterface *motor_if_; 00080 }; 00081 00082 00083 #endif