Fawkes API Fawkes Development Version
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00001 00002 /*************************************************************************** 00003 * blocked_timing.h - Blocked timing aspect for Fawkes 00004 * 00005 * Created: Thu Jan 11 16:49:25 2007 00006 * Copyright 2006-2007 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. A runtime exception applies to 00014 * this software (see LICENSE.GPL_WRE file mentioned below for details). 00015 * 00016 * This program is distributed in the hope that it will be useful, 00017 * but WITHOUT ANY WARRANTY; without even the implied warranty of 00018 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00019 * GNU Library General Public License for more details. 00020 * 00021 * Read the full text in the LICENSE.GPL_WRE file in the doc directory. 00022 */ 00023 00024 #ifndef __ASPECT_BLOCKED_TIMING_H_ 00025 #define __ASPECT_BLOCKED_TIMING_H_ 00026 00027 namespace fawkes { 00028 00029 class Thread; 00030 00031 class BlockedTimingAspect 00032 { 00033 public: 00034 /** Type to define at which hook the thread is woken up. 00035 * See FawkesMainThread for information when and in which order the hooks 00036 * are called. 00037 * @see FawkesMainThread::loop() 00038 */ 00039 typedef enum { 00040 WAKEUP_HOOK_PRE_LOOP, /**< before each loop */ 00041 WAKEUP_HOOK_SENSOR, /**< sensor thread, recording and processing */ 00042 WAKEUP_HOOK_SENSOR_PROCESS, /**< sensor data processing thread */ 00043 WAKEUP_HOOK_WORLDSTATE, /**< world state thread */ 00044 WAKEUP_HOOK_THINK, /**< think thread (agent) */ 00045 WAKEUP_HOOK_SKILL, /**< skill thread (skill module) */ 00046 WAKEUP_HOOK_ACT, /**< act thread (motor module etc.) */ 00047 WAKEUP_HOOK_ACT_EXEC, /**< act execution thread */ 00048 WAKEUP_HOOK_POST_LOOP /**< run after loop */ 00049 } WakeupHook; 00050 00051 BlockedTimingAspect(WakeupHook wakeup_hook); 00052 virtual ~BlockedTimingAspect(); 00053 00054 WakeupHook blockedTimingAspectHook() const; 00055 00056 private: 00057 WakeupHook wakeup_hook; 00058 }; 00059 00060 } // end namespace fawkes 00061 00062 #endif