Fawkes API Fawkes Development Version
act_thread.h
1
2/***************************************************************************
3 * act_thread.h - Kinova Jaco plugin act-thread
4 *
5 * Created: Tue Jun 04 13:13:20 2013
6 * Copyright 2013 Bahram Maleki-Fard
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_JACO_ACT_THREAD_H_
24#define _PLUGINS_JACO_ACT_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
32namespace fawkes {
34}
35
41{
42public:
43 JacoActThread(const char *name, fawkes::jaco_arm_t *arm);
44 virtual ~JacoActThread();
45
46 virtual void init();
47 virtual void finalize();
48 virtual void loop();
49
50 /** Stub to see name in backtrace for easier debugging. @see Thread::run() */
51protected:
52 virtual void
54 {
55 Thread::run();
56 }
57
58private:
59 void _initialize();
60 bool _is_initializing();
61 void _process_msgs();
62
64
65 bool cfg_auto_init_;
66 bool cfg_auto_calib_;
67};
68
69#endif
Jaco Arm control thread.
Definition: act_thread.h:41
virtual void init()
Initialize.
Definition: act_thread.cpp:69
virtual void loop()
Main loop.
Definition: act_thread.cpp:166
virtual void run()
Stub to see name in backtrace for easier debugging.
Definition: act_thread.h:53
JacoActThread(const char *name, fawkes::jaco_arm_t *arm)
Constructor.
Definition: act_thread.cpp:46
virtual ~JacoActThread()
Destructor.
Definition: act_thread.cpp:59
virtual void finalize()
Finalize.
Definition: act_thread.cpp:146
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
Thread aspect to log output.
Definition: logging.h:33
Thread class encapsulation of pthreads.
Definition: thread.h:46
const char * name() const
Get name of thread.
Definition: thread.h:100
Fawkes library namespace.
Jaco struct containing all components required for one arm.
Definition: types.h:93