Fawkes API Fawkes Development Version
exec_thread.h
1/***************************************************************************
2 * exec_thread.h - Simulate skill execution
3 *
4 * Created: Mon 06 May 2019 08:53:11 CEST 08:53
5 * Copyright 2019 Till Hofmann <hofmann@kbsg.rwth-aachen.de>
6 ****************************************************************************/
7
8/* This program is free software; you can redistribute it and/or modify
9 * it under the terms of the GNU General Public License as published by
10 * the Free Software Foundation; either version 2 of the License, or
11 * (at your option) any later version.
12 *
13 * This program is distributed in the hope that it will be useful,
14 * but WITHOUT ANY WARRANTY; without even the implied warranty of
15 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
16 * GNU Library General Public License for more details.
17 *
18 * Read the full text in the LICENSE.GPL file in the doc directory.
19 */
20
21#ifndef _PLUGINS_SKILLER_SIMULATOR_EXEC_THREAD_H_
22#define _PLUGINS_SKILLER_SIMULATOR_EXEC_THREAD_H_
23
24#include <aspect/blackboard.h>
25#include <aspect/blocked_timing.h>
26#include <aspect/clock.h>
27#include <aspect/configurable.h>
28#include <aspect/logging.h>
29#include <core/threading/thread.h>
30#include <execution_time_estimator/aspect/execution_time_estimator.h>
31#include <interfaces/SkillerInterface.h>
32#include <plugins/skiller/skiller_feature.h>
33
40{
41public:
43 virtual void init();
44 virtual void loop();
45 virtual void finalize();
46
47protected:
48 /** Stub to see name in backtrace for easier debugging. @see Thread::run() */
49 virtual void
51 {
52 Thread::run();
53 }
54
55private:
56 float get_skill_runtime(const std::string &skill) const;
57 std::pair<fawkes::SkillerInterface::SkillStatusEnum, std::string>
58 execute_skill(const std::string &skill);
59 fawkes::SkillerInterface *skiller_if_;
60 float current_skill_runtime_;
61 fawkes::Time skill_starttime_;
62};
63
64#endif /* !_PLUGINS_SKILLER_SIMULATOR_EXEC_THREAD_H_ */
Simulated Skill Execution Thread.
Definition: exec_thread.h:40
virtual void finalize()
Finalize the thread.
virtual void init()
Initialize the thread.
Definition: exec_thread.cpp:42
virtual void run()
Stub to see name in backtrace for easier debugging.
Definition: exec_thread.h:50
SkillerSimulatorExecutionThread()
Constructor.
Definition: exec_thread.cpp:35
virtual void loop()
Code to execute in the thread.
Definition: exec_thread.cpp:49
Thread aspect to access to BlackBoard.
Definition: blackboard.h:34
Thread aspect to use blocked timing.
Thread aspect to access configuration data.
Definition: configurable.h:33
An aspect to give access to the execution time estimator manager.
Thread aspect to log output.
Definition: logging.h:33
SkillerInterface Fawkes BlackBoard Interface.
Thread class encapsulation of pthreads.
Definition: thread.h:46
A class for handling time.
Definition: time.h:93