Fawkes API  Fawkes Development Version
info_thread.h
1 
2 /***************************************************************************
3  * info_thread.h - Kinova Jaco plugin information thread
4  *
5  * Created: Thu Jun 13 19:14:20 2013
6  * Copyright 2013 Bahram Maleki-Fard
7  *
8  ****************************************************************************/
9 
10 /* This program is free software; you can redistribute it and/or modify
11  * it under the terms of the GNU General Public License as published by
12  * the Free Software Foundation; either version 2 of the License, or
13  * (at your option) any later version.
14  *
15  * This program is distributed in the hope that it will be useful,
16  * but WITHOUT ANY WARRANTY; without even the implied warranty of
17  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
18  * GNU Library General Public License for more details.
19  *
20  * Read the full text in the LICENSE.GPL file in the doc directory.
21  */
22 
23 #ifndef _PLUGINS_JACO_INFO_THREAD_H_
24 #define _PLUGINS_JACO_INFO_THREAD_H_
25 
26 #include <aspect/blackboard.h>
27 #include <aspect/blocked_timing.h>
28 #include <aspect/configurable.h>
29 #include <aspect/logging.h>
30 #include <core/threading/thread.h>
31 
32 #include <string>
33 
34 namespace fawkes {
35 typedef struct jaco_arm_struct jaco_arm_t;
36 }
37 
40  public fawkes::LoggingAspect,
43 {
44 public:
45  JacoInfoThread(const char *name, fawkes::jaco_arm_t *arm);
46  virtual ~JacoInfoThread();
47 
48  virtual void init();
49  virtual void finalize();
50  virtual void loop();
51 
52  /** Stub to see name in backtrace for easier debugging. @see Thread::run() */
53 protected:
54  virtual void
55  run()
56  {
57  Thread::run();
58  }
59 
60 private:
61  fawkes::jaco_arm_t *arm_;
62 
63  std::vector<float> cpos_;
64  std::vector<float> apos_;
65 };
66 
67 #endif
Jaco struct containing all components required for one arm.
Definition: types.h:92
virtual ~JacoInfoThread()
Destructor.
Definition: info_thread.cpp:51
Thread aspect to access to BlackBoard.
Definition: blackboard.h:33
Fawkes library namespace.
Thread class encapsulation of pthreads.
Definition: thread.h:45
Thread aspect to use blocked timing.
JacoInfoThread(const char *name, fawkes::jaco_arm_t *arm)
Constructor.
Definition: info_thread.cpp:43
const char * name() const
Get name of thread.
Definition: thread.h:100
Thread aspect to log output.
Definition: logging.h:32
Jaco Arm information thread.
Definition: info_thread.h:38
virtual void finalize()
Finalize the thread.
Definition: info_thread.cpp:61
Thread aspect to access configuration data.
Definition: configurable.h:32
virtual void run()
Stub to see name in backtrace for easier debugging.
Definition: info_thread.h:55
virtual void init()
Initialize the thread.
Definition: info_thread.cpp:56
struct jaco_arm_struct jaco_arm_t
Jaco struct containing all components required for one arm.
Definition: act_thread.h:33
virtual void loop()
Code to execute in the thread.
Definition: info_thread.cpp:67