23 #ifndef __PLUGINS_SKILLER_EXEC_THREAD_H_
24 #define __PLUGINS_SKILLER_EXEC_THREAD_H_
26 #include <core/threading/thread.h>
27 #include <aspect/blocked_timing.h>
28 #include <aspect/logging.h>
29 #include <aspect/configurable.h>
30 #include <aspect/clock.h>
31 #include <aspect/blackboard.h>
33 # include <aspect/tf.h>
35 #include <utils/system/fam.h>
36 #include <blackboard/interface_listener.h>
42 class ComponentLogger;
45 class LuaInterfaceImporter;
47 class SkillerInterface;
48 class SkillerDebugInterface;
49 #ifdef SKILLER_TIMETRACKING
76 unsigned int instance_serial)
throw();
79 protected:
virtual void run() { Thread::run(); }
82 void init_failure_cleanup();
83 void publish_skill_status(std::string &curss);
86 void process_skdbg_messages();
87 void lua_loop_reset();
92 unsigned int __last_exclusive_controller;
93 bool __reader_just_left;
95 bool __continuous_run;
96 bool __continuous_reset;
100 std::string __skdbg_what;
101 std::string __skdbg_graphdir;
102 bool __skdbg_graphcolored;
105 std::string __cfg_skillspace;
106 bool __cfg_watch_files;
114 #ifdef SKILLER_TIMETRACKING
116 unsigned int __ttc_total;
117 unsigned int __ttc_msgproc;
118 unsigned int __ttc_luaprep;
119 unsigned int __ttc_luaexec;
120 unsigned int __ttc_publish;
121 unsigned int __tt_loopcount;
SkillerDebugInterface Fawkes BlackBoard Interface.
Thread aspect to access to BlackBoard.
virtual ~SkillerExecutionThread()
Destructor.
Thread aspect that allows to obtain the current time from the clock.
virtual void loop()
Code to execute in the thread.
SkillerExecutionThread()
Constructor.
void bb_interface_reader_removed(fawkes::Interface *interface, unsigned int instance_serial)
A reading instance has been closed for a watched interface.
Thread class encapsulation of pthreads.
Base class for all Fawkes BlackBoard interfaces.
Skiller Execution Thread.
Thread aspect to use blocked timing.
Thread aspect to log output.
virtual void run()
Stub to see name in backtrace for easier debugging.
Thread aspect to access configuration data.
virtual void init()
Initialize the thread.
SkillerInterface Fawkes BlackBoard Interface.
virtual void finalize()
Finalize the thread.
BlackBoard interface listener.