PanTilt act thread for PTUs from DirectedPerception employing the ASCII protocol. More...
#include <dp_thread.h>
Classes | |
class | WorkerThread |
Worker thread for the PanTiltDirectedPerceptionThread. | |
Public Member Functions | |
PanTiltDirectedPerceptionThread (std::string &pantilt_cfg_prefix, std::string &ptu_cfg_prefix, std::string &ptu_name) | |
Constructor. | |
virtual void | init () |
Initialize the thread. | |
virtual void | finalize () |
Finalize the thread. | |
virtual void | loop () |
Code to execute in the thread. | |
virtual bool | bb_interface_message_received (fawkes::Interface *interface, fawkes::Message *message) throw () |
BlackBoard message received notification. | |
void | update_sensor_values () |
Update sensor values as necessary. | |
Protected Member Functions | |
virtual void | run () |
Stub to see name in backtrace for easier debugging. |
PanTilt act thread for PTUs from DirectedPerception employing the ASCII protocol.
This thread integrates into the Fawkes main loop at the ACT_EXEC hook and interacts via the Visca protocol with the controller of the Sony EviD100P.
Definition at line 42 of file dp_thread.h.
PanTiltDirectedPerceptionThread::PanTiltDirectedPerceptionThread | ( | std::string & | pantilt_cfg_prefix, | |
std::string & | ptu_cfg_prefix, | |||
std::string & | ptu_name | |||
) |
Constructor.
pantilt_cfg_prefix | pantilt plugin configuration prefix | |
ptu_cfg_prefix | configuration prefix specific for the PTU | |
ptu_name | name of the PTU configuration |
Definition at line 47 of file dp_thread.cpp.
References fawkes::Thread::set_name().
bool PanTiltDirectedPerceptionThread::bb_interface_message_received | ( | fawkes::Interface * | interface, | |
fawkes::Message * | message | |||
) | throw () [virtual] |
BlackBoard message received notification.
This is called whenever a message is received for this interface. This method is only called for writing instances of an interface, never on reading instances. If you have processed the message already, you can order that the message is not enqueued by returning false. Returning true will enqueue the message as usual. You should only do very (very!) quick tasks directly in this method, as it is out of the regular thread context and can harm performance of other plugins and the system as a whole. Note that if you decide to return false the message is not referenced. If you want to keep it longer you have to ref() it by yourself. An example where this would really make sense is a "STOP" message for the motor, which needs to be processed ASAP and maybe even waiting a couple of miliseconds for the next cycle is not acceptable.
interface | interface instance that you supplied to bbil_add_message_interface() | |
message | the message that was sent |
Reimplemented from fawkes::BlackBoardInterfaceListener.
Definition at line 200 of file dp_thread.cpp.
void PanTiltDirectedPerceptionThread::finalize | ( | ) | [virtual] |
Finalize the thread.
This method is executed just before the thread is canceled and destroyed. It is always preceeded by a call to prepare_finalize(). If this is not the case this is a failure. The condition can be checked with the boolean variable finalize_prepared.
This method is meant to be used in conjunction with aspects and to cover thread inter-dependencies. This routine MUST bring the thread into a safe state such that it may be canceled and destroyed afterwards. If there is any reason that this cannot happen make your prepare_finalize() reports so.
This method is called by the thread manager just before the thread is being cancelled. Here you can do whatever steps are necessary just before the thread is cancelled. Note that you thread is still running and might be in the middle of a loop, so it is not a good place to give up on all resources used. Mind segmentation faults that could happen. Protect the area with a mutex that you lock at the beginning of your loop and free in the end, and that you lock at the beginning of finalize and then never unlock. Also not that the finalization may be canceled afterwards. The next thing that happens is that either the thread is canceled and destroyed or that the finalization is canceled and the thread has to run again.
Finalize is called on a thread just before it is deleted. It is guaranteed to be called on a fully initialized thread (if no exception is thrown in init()) (this guarantee holds in the Fawkes framework).
The default implementation does nothing besides throwing an exception if prepare_finalize() has not been called.
Exception | thrown if prepare_finalize() has not been called. |
Reimplemented from fawkes::Thread.
Definition at line 108 of file dp_thread.cpp.
References fawkes::BlackBoardAspect::blackboard, fawkes::BlackBoard::close(), and fawkes::BlackBoard::unregister_listener().
void PanTiltDirectedPerceptionThread::init | ( | ) | [virtual] |
Initialize the thread.
This method is meant to be used in conjunction with aspects. Some parts of the initialization may only happen after some aspect of the thread has been initialized. Implement the init method with these actions. It is guaranteed to be called just after all aspects have been initialized and only once in the lifetime of the thread. Throw an exception if any problem occurs and the thread should not run.
Just because your init() routine suceeds and everything looks fine for this thread does not automatically imply that it will run. If it belongs to a group of threads in a ThreadList and any of the other threads fail to initialize then no thread from this group is run and thus this thread will never run. In that situation finalize() is called for this very instance, prepare_finalize() however is not called.
Reimplemented from fawkes::Thread.
Definition at line 62 of file dp_thread.cpp.
References fawkes::BlackBoardInterfaceListener::bbil_add_message_interface(), fawkes::BlackBoardAspect::blackboard, fawkes::ConfigurableAspect::config, fawkes::Configuration::get_string(), fawkes::Configuration::get_uint(), fawkes::LoggingAspect::logger, fawkes::BlackBoard::open_for_writing(), fawkes::BlackBoard::register_listener(), fawkes::PanTiltInterface::set_calibrated(), fawkes::PanTiltInterface::set_enabled(), fawkes::PanTiltInterface::set_max_pan(), fawkes::PanTiltInterface::set_max_tilt(), fawkes::PanTiltInterface::set_min_pan(), fawkes::PanTiltInterface::set_min_tilt(), and fawkes::Interface::write().
void PanTiltDirectedPerceptionThread::loop | ( | ) | [virtual] |
Code to execute in the thread.
Implement this method to hold the code you want to be executed continously. If you do not implement this method, the default is that the thread will exit. This is useful if you choose to only implement once().
Reimplemented from fawkes::Thread.
Definition at line 141 of file dp_thread.cpp.
References fawkes::Message::id(), fawkes::Logger::log_warn(), fawkes::LoggingAspect::logger, fawkes::Interface::msgq_empty(), fawkes::Interface::msgq_first(), fawkes::Interface::msgq_first_is(), fawkes::Interface::msgq_pop(), fawkes::Thread::name(), fawkes::PanTiltInterface::GotoMessage::pan(), fawkes::PanTiltInterface::set_final(), fawkes::PanTiltInterface::set_msgid(), fawkes::PanTiltInterface::GotoMessage::tilt(), and fawkes::Interface::write().
virtual void PanTiltDirectedPerceptionThread::run | ( | ) | [inline, protected, virtual] |
Stub to see name in backtrace for easier debugging.
Reimplemented from fawkes::Thread.
Definition at line 62 of file dp_thread.h.
void PanTiltDirectedPerceptionThread::update_sensor_values | ( | ) | [virtual] |
Update sensor values as necessary.
To be called only from PanTiltSensorThread. Writes the current pan/tilt data into the interface.
Implements PanTiltActThread.
Definition at line 127 of file dp_thread.cpp.
References fawkes::PanTiltInterface::set_final(), fawkes::PanTiltInterface::set_pan(), fawkes::PanTiltInterface::set_tilt(), and fawkes::Interface::write().