Fawkes API Fawkes Development Version
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00001 00002 /*************************************************************************** 00003 * acquisition_thread.h - Thread that retrieves the laser data 00004 * 00005 * Created: Wed Oct 08 13:41:02 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_ACQUISITION_THREAD_H_ 00024 #define __PLUGINS_LASER_ACQUISITION_THREAD_H_ 00025 00026 #include <core/threading/thread.h> 00027 #include <aspect/logging.h> 00028 #include <aspect/configurable.h> 00029 #include <aspect/clock.h> 00030 00031 namespace fawkes { 00032 class Mutex; 00033 class Configuration; 00034 class Logger; 00035 } 00036 00037 class LaserAcquisitionThread 00038 : public fawkes::Thread, 00039 public fawkes::LoggingAspect, 00040 public fawkes::ConfigurableAspect, 00041 public fawkes::ClockAspect 00042 { 00043 public: 00044 LaserAcquisitionThread(const char *thread_name); 00045 virtual ~LaserAcquisitionThread(); 00046 00047 bool lock_if_new_data(); 00048 void unlock(); 00049 00050 virtual void pre_init(fawkes::Configuration *config, 00051 fawkes::Logger *logger) = 0; 00052 00053 const float * get_distance_data(); 00054 const float * get_echo_data(); 00055 00056 unsigned int get_distance_data_size(); 00057 unsigned int get_echo_data_size(); 00058 00059 /** Stub to see name in backtrace for easier debugging. @see Thread::run() */ 00060 protected: virtual void run() { Thread::run(); } 00061 00062 protected: 00063 void alloc_distances(unsigned int num_distances); 00064 void alloc_echoes(unsigned int num_echoes); 00065 00066 protected: 00067 fawkes::Mutex *_data_mutex; 00068 00069 bool _new_data; 00070 float *_distances; 00071 float *_echoes; 00072 00073 unsigned int _distances_size; 00074 unsigned int _echoes_size; 00075 00076 }; 00077 00078 00079 #endif