00001 00002 /*************************************************************************** 00003 * sensor_thread.h - Laser thread that puses data into the interface 00004 * 00005 * Created: Wed Oct 08 13:32:34 2008 00006 * Copyright 2006-2008 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_LASER_SENSOR_THREAD_H_ 00024 #define __PLUGINS_LASER_SENSOR_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 00032 #include <string> 00033 00034 namespace fawkes { 00035 class Laser360Interface; 00036 class Laser720Interface; 00037 } 00038 00039 class LaserAcquisitionThread; 00040 class LaserDataFilterCascade; 00041 class LaserReverseAngleDataFilter; 00042 00043 class LaserSensorThread 00044 : public fawkes::Thread, 00045 public fawkes::BlockedTimingAspect, 00046 public fawkes::LoggingAspect, 00047 public fawkes::ConfigurableAspect, 00048 public fawkes::BlackBoardAspect 00049 { 00050 public: 00051 LaserSensorThread(std::string &cfg_name, std::string &cfg_prefix, 00052 LaserAcquisitionThread *aqt); 00053 00054 virtual void init(); 00055 virtual void finalize(); 00056 virtual void loop(); 00057 00058 /** Stub to see name in backtrace for easier debugging. @see Thread::run() */ 00059 protected: virtual void run() { Thread::run(); } 00060 00061 private: 00062 fawkes::Laser360Interface *__laser360_if; 00063 fawkes::Laser720Interface *__laser720_if; 00064 00065 LaserAcquisitionThread *__aqt; 00066 00067 LaserDataFilterCascade *__filters720; 00068 LaserDataFilterCascade *__filters360; 00069 00070 00071 bool __clockwise_angle; 00072 fawkes::Laser360Interface *__reverse360_if; 00073 fawkes::Laser720Interface *__reverse720_if; 00074 LaserReverseAngleDataFilter *__reverse360; 00075 LaserReverseAngleDataFilter *__reverse720; 00076 00077 unsigned int __num_values; 00078 00079 std::string __cfg_name; 00080 std::string __cfg_prefix; 00081 }; 00082 00083 00084 #endif