Fawkes API Fawkes Development Version

act_thread.cpp

00001 
00002 /***************************************************************************
00003  *  act_thread.cpp - Pan/tilt plugin act thread (abstract)
00004  *
00005  *  Created: Thu Jun 18 09:48:03 2009
00006  *  Copyright  2006-2009  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 #include "act_thread.h"
00024 
00025 using namespace fawkes;
00026 
00027 /** @class PanTiltActThread "act_thread.h"
00028  * Pan/tilt act thread.
00029  * This thread integrates into the Fawkes main loop at the ACT_EXEC hook and
00030  * interacts with the controller of a particular pan/tilt unit. Note that this
00031  * abstract class is then implemented by threads interacting with a particular
00032  * pan/tilt unit.
00033  *
00034  * Each implementation of this thread shall open an instance of a PanTiltInterface
00035  * and act within this thread's loop() method. The data read back from the unit
00036  * shall be written in the update_sensor_values() method, that is called from
00037  * the PanTiltSensorThread.
00038  *
00039  * @author Tim Niemueller
00040  *
00041  * @fn void PanTiltActThread::update_sensor_values()
00042  * Update sensor values of the PTU in the BB interface.
00043  */
00044 
00045 /** Constructor.
00046  * @param thread_name thread name
00047  */
00048 PanTiltActThread::PanTiltActThread(const char *thread_name)
00049   : Thread(thread_name, Thread::OPMODE_WAITFORWAKEUP),
00050     BlockedTimingAspect(BlockedTimingAspect::WAKEUP_HOOK_ACT_EXEC)
00051 {
00052 }
00053 
00054 
00055 /** Destructor. */
00056 PanTiltActThread::~PanTiltActThread()
00057 {
00058 }
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