Fawkes API  Fawkes Development Version
act_thread.h
1 
2 /***************************************************************************
3  * act_thread.h - Kinova Jaco plugin act-thread
4  *
5  * Created: Tue Jun 04 13:13:20 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_ACT_THREAD_H_
24 #define _PLUGINS_JACO_ACT_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 namespace fawkes {
33 typedef struct jaco_arm_struct jaco_arm_t;
34 }
35 
38  public fawkes::LoggingAspect,
41 {
42 public:
43  JacoActThread(const char *name, fawkes::jaco_arm_t *arm);
44  virtual ~JacoActThread();
45 
46  virtual void init();
47  virtual void finalize();
48  virtual void loop();
49 
50  /** Stub to see name in backtrace for easier debugging. @see Thread::run() */
51 protected:
52  virtual void
53  run()
54  {
55  Thread::run();
56  }
57 
58 private:
59  void _initialize();
60  bool _is_initializing();
61  void _process_msgs();
62 
63  fawkes::jaco_arm_t *arm_;
64 
65  bool cfg_auto_init_;
66  bool cfg_auto_calib_;
67 };
68 
69 #endif
Jaco struct containing all components required for one arm.
Definition: types.h:92
Thread aspect to access to BlackBoard.
Definition: blackboard.h:33
virtual void finalize()
Finalize.
Definition: act_thread.cpp:146
JacoActThread(const char *name, fawkes::jaco_arm_t *arm)
Constructor.
Definition: act_thread.cpp:46
Fawkes library namespace.
virtual void loop()
Main loop.
Definition: act_thread.cpp:166
Thread class encapsulation of pthreads.
Definition: thread.h:45
Thread aspect to use blocked timing.
virtual void run()
Stub to see name in backtrace for easier debugging.
Definition: act_thread.h:53
Jaco Arm control thread.
Definition: act_thread.h:36
const char * name() const
Get name of thread.
Definition: thread.h:100
Thread aspect to log output.
Definition: logging.h:32
Thread aspect to access configuration data.
Definition: configurable.h:32
virtual ~JacoActThread()
Destructor.
Definition: act_thread.cpp:59
virtual void init()
Initialize.
Definition: act_thread.cpp:69