Fawkes API Fawkes Development Version
act_thread.h
1
2/***************************************************************************
3 * act_thread.h - Robotis dynamixel servo actuator integration
4 *
5 * Created: Mon Mar 23 20:23:33 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#ifndef _PLUGINS_DYNAMIXEL_ACT_THREAD_H_
23#define _PLUGINS_DYNAMIXEL_ACT_THREAD_H_
24
25#include <aspect/blocked_timing.h>
26#include <aspect/configurable.h>
27#include <aspect/logging.h>
28#include <core/threading/thread.h>
29
31
36{
37public:
39 virtual void loop();
40
42
43 /** Stub to see name in backtrace for easier debugging. @see Thread::run() */
44protected:
45 virtual void
47 {
48 Thread::run();
49 }
50
51private:
52 std::list<DynamixelDriverThread *> driver_threads_;
53};
54
55#endif
Robotis dynamixel servo act thread.
Definition: act_thread.h:36
void add_driver_thread(DynamixelDriverThread *drv_thread)
Add a driver thread to wake in ACT hook.
Definition: act_thread.cpp:55
DynamixelActThread()
Constructor.
Definition: act_thread.cpp:37
virtual void run()
Stub to see name in backtrace for easier debugging.
Definition: act_thread.h:46
virtual void loop()
Code to execute in the thread.
Definition: act_thread.cpp:44
Driver thread for Robotis dynamixel servos.
Definition: driver_thread.h:56
Thread aspect to access configuration data.
Definition: configurable.h:33
Thread aspect to log output.
Definition: logging.h:33
Thread aspect to acces to SyncPoints Give this aspect to your thread to manage SyncPoints,...
Definition: syncpoint.h:35
Thread class encapsulation of pthreads.
Definition: thread.h:46