Fawkes API Fawkes Development Version
sensor_thread.cpp
1
2/***************************************************************************
3 * sensor_thread.cpp - Katana plugin sensor thread
4 *
5 * Created: Fri Jun 12 15:00:33 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 "sensor_thread.h"
24
25using namespace fawkes;
26
27/** @class KatanaSensorThread "sensor_thread.h"
28 * Katana sensor thread.
29 * This thread integrates into the Fawkes main loop at the SENSOR hook and
30 * triggers the act thread to retrieve and write new sensor data.
31 * @author Tim Niemueller
32 */
33
34/** Constructor.
35 * @param act_thread Katana act thread instance to trigger for the sensor
36 * update.
37 */
39: Thread("KatanaSensorThread", Thread::OPMODE_WAITFORWAKEUP),
40 BlockedTimingAspect(BlockedTimingAspect::WAKEUP_HOOK_SENSOR_ACQUIRE)
41{
42 act_thread_ = act_thread;
43}
44
45void
47{
48 act_thread_->update_sensor_values();
49}
Katana act thread.
Definition: act_thread.h:72
void update_sensor_values()
Update sensor values as necessary.
Definition: act_thread.cpp:372
KatanaSensorThread(KatanaActThread *act_thread)
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.