Fawkes API Fawkes Development Version
gossip_thread.h
1
2/***************************************************************************
3 * gossip_thread.h - Robot Group Communication Plugin
4 *
5 * Created: Fri Feb 28 11:09:37 2014
6 * Copyright 2006-2014 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#ifndef _PLUGINS_GOSSIP_GOSSIP_THREAD_H_
24#define _PLUGINS_GOSSIP_GOSSIP_THREAD_H_
25
26#include <aspect/aspect_provider.h>
27#include <aspect/configurable.h>
28#include <aspect/logging.h>
29#include <aspect/network.h>
30#include <core/threading/thread.h>
31#include <plugins/gossip/aspect/gossip_inifin.h>
32
33#include <memory>
34
40{
41public:
43 virtual ~GossipThread();
44
45 virtual void init();
46 virtual void loop();
47 virtual void finalize();
48
49 /** Stub to see name in backtrace for easier debugging. @see Thread::run() */
50protected:
51 virtual void
53 {
54 Thread::run();
55 }
56
57private:
58 std::string cfg_service_name_;
59
60 std::shared_ptr<fawkes::GossipGroupManager> group_mgr_;
61 fawkes::GossipAspectIniFin gossip_aspect_inifin_;
62};
63
64#endif
Robot Group Communication.
Definition: gossip_thread.h:40
virtual ~GossipThread()
Destructor.
virtual void loop()
Code to execute in the thread.
GossipThread()
Constructor.
virtual void init()
Initialize the thread.
virtual void run()
Stub to see name in backtrace for easier debugging.
Definition: gossip_thread.h:52
virtual void finalize()
Finalize the thread.
Thread aspect provide a new aspect.
Thread aspect to access configuration data.
Definition: configurable.h:33
GossipAspect initializer/finalizer.
Definition: gossip_inifin.h:35
Thread aspect to log output.
Definition: logging.h:33
Thread aspect for network communication.
Definition: network.h:35
Thread class encapsulation of pthreads.
Definition: thread.h:46