Fawkes API  Fawkes Development Version
periodic_exec_thread.h
00001 
00002 /***************************************************************************
00003  *  periodic_exec_thread.h - Fawkes LuaAgent: Periodic Execution Thread
00004  *
00005  *  Created: Thu Jan 01 11:12:13 2009
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_LUAAGENT_PERIODIC_EXEC_THREAD_H_
00024 #define __PLUGINS_LUAAGENT_PERIODIC_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 }
00050 
00051 class LuaAgentPeriodicExecutionThread
00052 : public fawkes::Thread,
00053   public fawkes::BlockedTimingAspect,
00054   public fawkes::LoggingAspect,
00055   public fawkes::BlackBoardAspect,
00056   public fawkes::ConfigurableAspect,
00057 #ifdef HAVE_TF
00058   public fawkes::TransformAspect,
00059 #endif
00060   public fawkes::ClockAspect
00061 {
00062  public:
00063   LuaAgentPeriodicExecutionThread();
00064   virtual ~LuaAgentPeriodicExecutionThread();
00065 
00066   virtual void init();
00067   virtual void loop();
00068   virtual void finalize();
00069 
00070  /** Stub to see name in backtrace for easier debugging. @see Thread::run() */
00071  protected: virtual void run() { Thread::run(); }
00072 
00073  private: /* methods */
00074   void init_failure_cleanup();
00075   void process_agdbg_messages();
00076 
00077  private: /* members */
00078   fawkes::ComponentLogger *__clog;
00079 
00080   // config values
00081   std::string __cfg_agent;
00082   bool        __cfg_watch_files;
00083 
00084   fawkes::SkillerInterface      *__skiller_if;
00085   fawkes::SkillerDebugInterface *__agdbg_if;
00086 
00087   fawkes::LuaContext  *__lua;
00088   fawkes::LuaInterfaceImporter  *__lua_ifi;
00089 };
00090 
00091 #endif