Fawkes API Fawkes Development Version
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00001 00002 /*************************************************************************** 00003 * engine_thread.h - Thread driving the XABSL Engine 00004 * 00005 * Created: Thu Aug 07 14:49:11 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_XABSL_ENGINE_THREAD_H_ 00024 #define __PLUGINS_XABSL_ENGINE_THREAD_H_ 00025 00026 #include "iface_field_wrapper.h" 00027 00028 #include <core/threading/thread.h> 00029 #include <aspect/blocked_timing.h> 00030 #include <aspect/logging.h> 00031 #include <aspect/configurable.h> 00032 #include <aspect/clock.h> 00033 #include <aspect/blackboard.h> 00034 00035 #include <map> 00036 #include <string> 00037 00038 namespace xabsl { 00039 class Engine; 00040 } 00041 00042 namespace fawkes { 00043 class Time; 00044 class ObjectPositionInterface; 00045 class SkillerInterface; 00046 } 00047 00048 class XabslLoggingErrorHandler; 00049 class XabslFileInputSource; 00050 class XabslSkillWrapper; 00051 00052 class XabslEngineThread 00053 : public fawkes::Thread, 00054 public fawkes::BlockedTimingAspect, 00055 public fawkes::LoggingAspect, 00056 public fawkes::ConfigurableAspect, 00057 public fawkes::ClockAspect, 00058 public fawkes::BlackBoardAspect 00059 { 00060 public: 00061 XabslEngineThread(); 00062 00063 virtual void init(); 00064 virtual void finalize(); 00065 virtual void once(); 00066 virtual void loop(); 00067 00068 unsigned long int current_time(); 00069 00070 /** Stub to see name in backtrace for easier debugging. @see Thread::run() */ 00071 protected: virtual void run() { Thread::run(); } 00072 00073 private: 00074 xabsl::Engine *__xe; 00075 XabslLoggingErrorHandler *__xleh; 00076 00077 fawkes::Time *__now; 00078 00079 fawkes::SkillerInterface *__skiller_if; 00080 fawkes::ObjectPositionInterface *__wm_ball_if; 00081 fawkes::ObjectPositionInterface *__wm_ball_w_if; 00082 00083 XabslInterfaceFieldWrapper<double, float> *__ball_rx; 00084 XabslInterfaceFieldWrapper<double, float> *__ball_ry; 00085 00086 std::map<std::string, XabslSkillWrapper *> __wrappers; 00087 std::map<std::string, XabslSkillWrapper *>::iterator __wit; 00088 }; 00089 00090 00091 #endif