Fawkes API Fawkes Development Version
sensor_thread.h
1
2/***************************************************************************
3 * sensor_thread.h - Laser thread that puses data into the interface
4 *
5 * Created: Wed Oct 08 13:32:34 2008
6 * Copyright 2006-2008 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_LASER_SENSOR_THREAD_H_
24#define _PLUGINS_LASER_SENSOR_THREAD_H_
25
26#include <aspect/blackboard.h>
27#include <aspect/blocked_timing.h>
28#include <aspect/configurable.h>
29#include <aspect/logging.h>
30#include <core/threading/thread.h>
31
32#include <string>
33
34namespace fawkes {
35class Laser360Interface;
36class Laser720Interface;
37class Laser1080Interface;
38} // namespace fawkes
39
41
47{
48public:
49 LaserSensorThread(std::string &cfg_name, std::string &cfg_prefix, LaserAcquisitionThread *aqt);
50
51 virtual void init();
52 virtual void finalize();
53 virtual void loop();
54
55 /** Stub to see name in backtrace for easier debugging. @see Thread::run() */
56protected:
57 virtual void
59 {
60 Thread::run();
61 }
62
63private:
64 fawkes::Laser360Interface * laser360_if_;
65 fawkes::Laser720Interface * laser720_if_;
66 fawkes::Laser1080Interface *laser1080_if_;
67
69
70 unsigned int num_values_;
71
72 std::string cfg_name_;
73 std::string cfg_frame_;
74 std::string cfg_prefix_;
75};
76
77#endif
Laser acqusition thread.
Laser sensor thread.
Definition: sensor_thread.h:47
virtual void finalize()
Finalize the thread.
LaserSensorThread(std::string &cfg_name, std::string &cfg_prefix, LaserAcquisitionThread *aqt)
Constructor.
virtual void loop()
Code to execute in the thread.
virtual void run()
Stub to see name in backtrace for easier debugging.
Definition: sensor_thread.h:58
virtual void init()
Initialize the thread.
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
Laser1080Interface Fawkes BlackBoard Interface.
Laser360Interface Fawkes BlackBoard Interface.
Laser720Interface Fawkes BlackBoard Interface.
Thread aspect to log output.
Definition: logging.h:33
Thread class encapsulation of pthreads.
Definition: thread.h:46
Fawkes library namespace.