Fawkes API Fawkes Development Version
sensor_thread.cpp
1
2/***************************************************************************
3 * sensor_thread.cpp - Roomba plugin sensor thread
4 *
5 * Created: Mon Jan 03 00:05:32 2011
6 * Copyright 2006-2010 Tim Niemueller [www.niemueller.de]
7 *
8 ****************************************************************************/
9
10/* This program is free software; you can redistribute it and/or modify
11 * it under the terms of the GNU General Public License as published by
12 * the Free Software Foundation; either version 2 of the License, or
13 * (at your option) any later version.
14 *
15 * This program is distributed in the hope that it will be useful,
16 * but WITHOUT ANY WARRANTY; without even the implied warranty of
17 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
18 * GNU Library General Public License for more details.
19 *
20 * Read the full text in the LICENSE.GPL file in the doc directory.
21 */
22
23#include "sensor_thread.h"
24
25#include "thread_roomba_500.h"
26
27using namespace fawkes;
28
29/** @class RoombaSensorThread "sensor_thread.h"
30 * Roomba sensor hook integration thread.
31 * This thread integrates into the Fawkes main loop at the SENSOR hook and
32 * triggers the Roomba thread to write new sensor data.
33 * @author Tim Niemueller
34 */
35
36/** Constructor.
37 * @param roomba500_thread Roomba 500 thread to trigger to write to blackboard.
38 */
40: Thread("RoombaSensorThread", Thread::OPMODE_WAITFORWAKEUP),
41 BlockedTimingAspect(BlockedTimingAspect::WAKEUP_HOOK_SENSOR_ACQUIRE)
42{
43 roomba500_thread_ = roomba500_thread;
44}
45
46void
48{
49 try {
50 roomba500_thread_->write_blackboard();
51 } catch (Exception &e) {
53 "%s failed to write to BB, exception follows.",
54 roomba500_thread_->name());
55 logger->log_warn(name(), e);
56 }
57}
Roomba 500 integration thread.
void write_blackboard()
Write data to blackboard.
RoombaSensorThread(Roomba500Thread *roomba500_thread)
Constructor.
virtual void loop()
Code to execute in the thread.
Thread aspect to use blocked timing.
Base class for exceptions in Fawkes.
Definition: exception.h:36
virtual void log_warn(const char *component, const char *format,...)=0
Log warning message.
Logger * logger
This is the Logger member used to access the logger.
Definition: logging.h:41
Thread class encapsulation of pthreads.
Definition: thread.h:46
const char * name() const
Get name of thread.
Definition: thread.h:100
Fawkes library namespace.