Fawkes API Fawkes Development Version
sensacq_thread.cpp
1
2/***************************************************************************
3 * sensaqt_thread.cpp - Katana sensor acqusition thread
4 *
5 * Created: Fri Jun 12 15:08:56 2009
6 * Copyright 2006-2009 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 "sensacq_thread.h"
24
25#include "controller.h"
26
27#include <cstdlib>
28
29using namespace fawkes;
30
31/** @class KatanaSensorAcquisitionThread "sensacq_thread.h"
32 * Katana sensor acquisition thread.
33 * This thread runs continuously and acquires data from the sensor. Since the
34 * operation is blocking and may take several miliseconds it is done concurrently
35 * to the main loop at specified intervals.
36 * @author Tim Niemueller
37 */
38
39/** Constructor.
40 * @param katana katana controller base class
41 * @param logger logger
42 */
45 fawkes::Logger * logger)
46: Thread("KatanaSensorAcqusitionThread", Thread::OPMODE_WAITFORWAKEUP)
47{
48 katana_ = katana;
49 logger_ = logger;
50 enabled_ = false;
51}
52
53/** Set whether data acquisition is enabled or not.
54 * In general the thread should only be woken up if sensor data can be acquired.
55 * But for safety data acqusition can also be turned off to be safe against
56 * spurious wakeups. Additionally, this method will acquire the loop mutex,
57 * thereby assuring that a possibly running loop has finished.
58 * @param enabled true to enable sensor data acquisition, false to disable.
59 */
60void
62{
64 enabled_ = enabled;
66}
67
68void
70{
71 if (enabled_) {
72 try {
73 katana_->read_sensor_data();
74 } catch (Exception &e) {
75 logger_->log_warn(name(), "Exception while reading sensor data: %s", e.what());
76 }
77 }
78}
void set_enabled(bool enabled)
Set whether data acquisition is enabled or not.
virtual void loop()
Code to execute in the thread.
KatanaSensorAcquisitionThread(fawkes::RefPtr< fawkes::KatanaController > katana, fawkes::Logger *logger)
Constructor.
Base class for exceptions in Fawkes.
Definition: exception.h:36
virtual const char * what() const noexcept
Get primary string.
Definition: exception.cpp:639
virtual void read_sensor_data()=0
Read all sensor data from device into controller libray.
Interface for logging.
Definition: logger.h:42
virtual void log_warn(const char *component, const char *format,...)=0
Log warning message.
void lock()
Lock this mutex.
Definition: mutex.cpp:87
void unlock()
Unlock the mutex.
Definition: mutex.cpp:131
Thread class encapsulation of pthreads.
Definition: thread.h:46
Mutex * loop_mutex
Mutex that is used to protect a call to loop().
Definition: thread.h:152
const char * name() const
Get name of thread.
Definition: thread.h:100
Fawkes library namespace.