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);
76 std::string pantilt_cfg_prefix_;
77 std::string ptu_cfg_prefix_;
78 std::string ptu_name_;
79 std::string cfg_device_;
80 unsigned int cfg_read_timeout_ms_;
85 WorkerThread(std::string ptu_name,
90 void goto_pantilt(
float pan,
float tilt);
91 void get_pantilt(
float &pan,
float &tilt);
94 bool has_fresh_data();
100 void exec_goto_pantilt(
float pan,
float tilt);
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.
Fawkes library namespace.
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.
JointInterface Fawkes BlackBoard Interface.
Mutex mutual exclusion lock.
BlackBoard interface listener.