Fawkes API Fawkes Development Version
node_thread.h
1
2/***************************************************************************
3 * node_thread.h - Gazebo node handle providing thread
4 *
5 * Created: Fri Aug 24 11:04:04 2012
6 * Author Bastian Klingen, Frederik Zwilling
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_GAZEBO_NODE_THREAD_H_
24#define _PLUGINS_GAZEBO_NODE_THREAD_H_
25
26#include <aspect/aspect_provider.h>
27#include <aspect/blocked_timing.h>
28#include <aspect/clock.h>
29#include <aspect/configurable.h>
30#include <aspect/logging.h>
31#include <core/threading/thread.h>
32#include <plugins/gazebo/aspect/gazebo_inifin.h>
33#include <sys/types.h>
34#include <utils/time/time.h>
35
36#include <string.h>
37
38namespace gazebo {
39namespace transport {
40class Node;
41}
42} // namespace gazebo
43
50{
51public:
53 virtual ~GazeboNodeThread();
54
55 virtual void init();
56 virtual void loop();
57 virtual void finalize();
58
59 /** Stub to see name in backtrace for easier debugging. @see Thread::run() */
60protected:
61 virtual void
63 {
64 Thread::run();
65 }
66
67private:
68 //Node for communication to gazebo-robot-plugins
69 gazebo::transport::NodePtr gazebonode_;
70 //Node to control the gazebo world (e.g. spawn visual objects)
71 gazebo::transport::NodePtr gazebo_world_node_;
72 // Heartbeat publisher
73 gazebo::transport::PublisherPtr status_publisher_;
74 //Publisher to send Messages:
75 gazebo::transport::PublisherPtr visual_publisher_, model_publisher_, request_publisher_,
76 light_publisher_;
77
78 fawkes::GazeboAspectIniFin gazebo_aspect_inifin_;
79};
80
81#endif
Gazebo node handle thread.
Definition: node_thread.h:50
virtual void run()
Stub to see name in backtrace for easier debugging.
Definition: node_thread.h:62
GazeboNodeThread()
Constructor.
Definition: node_thread.cpp:45
virtual void loop()
Code to execute in the thread.
Definition: node_thread.cpp:98
virtual void init()
Initialize the thread.
Definition: node_thread.cpp:58
virtual ~GazeboNodeThread()
Destructor.
Definition: node_thread.cpp:53
virtual void finalize()
Finalize the thread.
Definition: node_thread.cpp:87
Thread aspect provide a new aspect.
Thread aspect to use blocked timing.
Thread aspect that allows to obtain the current time from the clock.
Definition: clock.h:34
Thread aspect to access configuration data.
Definition: configurable.h:33
GazeboAspect initializer/finalizer.
Definition: gazebo_inifin.h:36
Thread aspect to log output.
Definition: logging.h:33
Thread class encapsulation of pthreads.
Definition: thread.h:46