Fawkes API  Fawkes Development Version
sensacq_thread.h
00001 
00002 /***************************************************************************
00003  *  sensaqt_thread.h - Katana sensor acquisition thread
00004  *
00005  *  Created: Fri Jun 12 15:07:13 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 #ifndef __PLUGINS_KATANA_SENSAQT_THREAD_H_
00024 #define __PLUGINS_KATANA_SENSAQT_THREAD_H_
00025 
00026 #include <core/threading/thread.h>
00027 #include <utils/logging/logger.h>
00028 #include <core/utils/refptr.h>
00029 
00030 // Classes from libkni (KNI)
00031 class CLMBase;
00032 class CSctBase;
00033 
00034 class KatanaSensorAcquisitionThread : public fawkes::Thread
00035 {
00036  public:
00037   KatanaSensorAcquisitionThread(fawkes::RefPtr<CLMBase> katana,
00038                                 fawkes::Logger *logger);
00039 
00040   void set_enabled(bool enabled);
00041   virtual void loop();
00042 
00043  /** Stub to see name in backtrace for easier debugging. @see Thread::run() */
00044  protected: virtual void run() { Thread::run(); }
00045 
00046  private:
00047   fawkes::RefPtr<CLMBase>  __katana;
00048   CSctBase                *__sensor_ctrl;
00049   bool                     __enabled;
00050 
00051   fawkes::Logger          *__logger;
00052 };
00053 
00054 
00055 #endif