Fawkes API Fawkes Development Version
sensor_thread.h
1
2/***************************************************************************
3 * sensor_thread.h - IMU thread that pushes data into the interface
4 *
5 * Created: Sun Jun 22 19:34:03 2014
6 * Copyright 2006-2014 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#ifndef _PLUGINS_IMU_SENSOR_THREAD_H_
24#define _PLUGINS_IMU_SENSOR_THREAD_H_
25
26#include <aspect/blackboard.h>
27#include <aspect/blocked_timing.h>
28#include <aspect/configurable.h>
29#include <aspect/logging.h>
30#include <core/threading/thread.h>
31
32#include <string>
33
34namespace fawkes {
35class IMUInterface;
36}
37
39
45{
46public:
47 IMUSensorThread(std::string &cfg_name, std::string &cfg_prefix, IMUAcquisitionThread *aqt);
48
49 virtual void init();
50 virtual void finalize();
51 virtual void loop();
52
53 /** Stub to see name in backtrace for easier debugging. @see Thread::run() */
54protected:
55 virtual void
57 {
58 Thread::run();
59 }
60
61private:
62 fawkes::IMUInterface *imu_if_;
63
65
66 std::string cfg_name_;
67 std::string cfg_frame_;
68 std::string cfg_prefix_;
69};
70
71#endif
IMU acqusition thread.
IMU sensor thread.
Definition: sensor_thread.h:45
IMUSensorThread(std::string &cfg_name, std::string &cfg_prefix, IMUAcquisitionThread *aqt)
Constructor.
virtual void init()
Initialize the thread.
virtual void run()
Stub to see name in backtrace for easier debugging.
Definition: sensor_thread.h:56
virtual void finalize()
Finalize the thread.
virtual void loop()
Code to execute in the thread.
Thread aspect to access to BlackBoard.
Definition: blackboard.h:34
Thread aspect to use blocked timing.
Thread aspect to access configuration data.
Definition: configurable.h:33
IMUInterface Fawkes BlackBoard Interface.
Definition: IMUInterface.h:34
Thread aspect to log output.
Definition: logging.h:33
Thread class encapsulation of pthreads.
Definition: thread.h:46
Fawkes library namespace.