Fawkes API Fawkes Development Version
sensor_thread.cpp
1
2/***************************************************************************
3 * sensor_thread.cpp - Robotis dynamixel servo sensor integration thread
4 *
5 * Created: Mon Mar 23 20:20:02 2015 (based on pantilt plugin)
6 * Copyright 2006-2015 Tim Niemueller [www.niemueller.de]
7 ****************************************************************************/
8
9/* This program is free software; you can redistribute it and/or modify
10 * it under the terms of the GNU General Public License as published by
11 * the Free Software Foundation; either version 2 of the License, or
12 * (at your option) any later version.
13 *
14 * This program is distributed in the hope that it will be useful,
15 * but WITHOUT ANY WARRANTY; without even the implied warranty of
16 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
17 * GNU Library General Public License for more details.
18 *
19 * Read the full text in the LICENSE.GPL file in the doc directory.
20 */
21
22#include "sensor_thread.h"
23
24#include "driver_thread.h"
25
26using namespace fawkes;
27
28/** @class DynamixelSensorThread "sensor_thread.h"
29 * Robotis dynamixel servo sensor thread.
30 * This thread integrates into the Fawkes main loop at the SENSOR hook and
31 * triggers the driver thread to retrieve and write new sensor data.
32 * @author Tim Niemueller
33 */
34
35/** Constructor. */
37: Thread("DynamixelSensorThread", Thread::OPMODE_WAITFORWAKEUP),
38 BlockedTimingAspect(BlockedTimingAspect::WAKEUP_HOOK_SENSOR_ACQUIRE)
39{
40}
41
42void
44{
45 for (auto &d : driver_threads_) {
46 d->exec_sensor();
47 }
48}
49
50/** Add a driver thread to wake in SENSOR_ACQUIRE hook.
51 * @param drv_thread driver thread to add
52 */
53void
55{
56 driver_threads_.push_back(drv_thread);
57}
Driver thread for Robotis dynamixel servos.
Definition: driver_thread.h:56
void add_driver_thread(DynamixelDriverThread *drv_thread)
Add a driver thread to wake in SENSOR_ACQUIRE hook.
DynamixelSensorThread()
Constructor.
virtual void loop()
Code to execute in the thread.
Thread aspect to use blocked timing.
Thread class encapsulation of pthreads.
Definition: thread.h:46
Fawkes library namespace.