23 #ifndef __PLUGINS_PANTILT_DIRPERC_DP_THREAD_H_
24 #define __PLUGINS_PANTILT_DIRPERC_DP_THREAD_H_
26 #include "../act_thread.h"
28 #include <blackboard/interface_listener.h>
30 #ifdef USE_TIMETRACKER
31 # include <utils/time/tracker.h>
37 class PanTiltInterface;
48 std::string &ptu_cfg_prefix,
49 std::string &ptu_name);
62 protected:
virtual void run() { Thread::run(); }
69 std::string __pantilt_cfg_prefix;
70 std::string __ptu_cfg_prefix;
71 std::string __ptu_name;
72 std::string __cfg_device;
73 unsigned int __cfg_read_timeout_ms;
83 void goto_pantilt(
float pan,
float tilt);
84 void get_pantilt(
float &pan,
float &tilt);
87 bool has_fresh_data();
93 void exec_goto_pantilt(
float pan,
float tilt);
112 bool __reset_pending;
Base class for all messages passed through interfaces in Fawkes BlackBoard.
virtual bool bb_interface_message_received(fawkes::Interface *interface, fawkes::Message *message)
BlackBoard message received notification.
PanTiltDirectedPerceptionThread(std::string &pantilt_cfg_prefix, std::string &ptu_cfg_prefix, std::string &ptu_name)
Constructor.
void update_sensor_values()
Update sensor values as necessary.
Thread class encapsulation of pthreads.
DirectedPerception PTU implementation.
Base class for all Fawkes BlackBoard interfaces.
Logger * logger
This is the Logger member used to access the logger.
PanTilt act thread for PTUs from DirectedPerception employing the ASCII protocol. ...
virtual void init()
Initialize the thread.
virtual void finalize()
Finalize the thread.
PanTiltInterface Fawkes BlackBoard Interface.
virtual void loop()
Code to execute in the thread.
virtual void run()
Stub to see name in backtrace for easier debugging.
Mutex mutual exclusion lock.
BlackBoard interface listener.