Fawkes API
Fawkes Development Version
engine_thread.h
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/***************************************************************************
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* engine_thread.h - Thread driving the XABSL Engine
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*
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* Created: Thu Aug 07 14:49:11 2008
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* Copyright 2006-2008 Tim Niemueller [www.niemueller.de]
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*
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****************************************************************************/
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/* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU Library General Public License for more details.
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*
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* Read the full text in the LICENSE.GPL file in the doc directory.
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*/
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#ifndef _PLUGINS_XABSL_ENGINE_THREAD_H_
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#define _PLUGINS_XABSL_ENGINE_THREAD_H_
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#include "iface_field_wrapper.h"
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#include <aspect/blackboard.h>
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#include <aspect/blocked_timing.h>
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#include <aspect/clock.h>
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#include <aspect/configurable.h>
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#include <aspect/logging.h>
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#include <core/threading/thread.h>
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#include <map>
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#include <string>
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namespace
xabsl {
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class
Engine;
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}
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namespace
fawkes
{
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class
Time;
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class
ObjectPositionInterface;
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class
SkillerInterface;
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}
// namespace fawkes
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class
XabslLoggingErrorHandler
;
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class
XabslFileInputSource
;
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class
XabslSkillWrapper
;
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class
XabslEngineThread
:
public
fawkes::Thread
,
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public
fawkes::BlockedTimingAspect
,
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public
fawkes::LoggingAspect
,
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public
fawkes::ConfigurableAspect
,
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public
fawkes::ClockAspect
,
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public
fawkes::BlackBoardAspect
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{
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public
:
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XabslEngineThread
();
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virtual
void
init
();
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virtual
void
finalize
();
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virtual
void
once
();
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virtual
void
loop
();
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unsigned
long
int
current_time
();
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/** Stub to see name in backtrace for easier debugging. @see Thread::run() */
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protected
:
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virtual
void
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run
()
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{
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Thread::run();
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}
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private
:
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xabsl::Engine * xe_;
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XabslLoggingErrorHandler
*xleh_;
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fawkes::Time
*now_;
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fawkes::SkillerInterface
* skiller_if_;
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fawkes::ObjectPositionInterface
*wm_ball_if_;
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fawkes::ObjectPositionInterface
*wm_ball_w_if_;
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XabslInterfaceFieldWrapper<double, float>
*ball_rx_;
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XabslInterfaceFieldWrapper<double, float>
*ball_ry_;
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std::map<std::string, XabslSkillWrapper *> wrappers_;
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std::map<std::string, XabslSkillWrapper *>::iterator wit_;
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};
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#endif
XabslEngineThread::current_time
unsigned long int current_time()
Get current time.
Definition:
engine_thread.cpp:243
XabslEngineThread::run
virtual void run()
Stub to see name in backtrace for easier debugging.
Definition:
engine_thread.h:72
fawkes::BlockedTimingAspect
Definition:
blocked_timing.h:56
XabslEngineThread::finalize
virtual void finalize()
Finalize the thread.
Definition:
engine_thread.cpp:176
XabslFileInputSource
Definition:
xabsl_tools.h:46
XabslInterfaceFieldWrapper< double, float >
fawkes::BlackBoardAspect
Definition:
blackboard.h:38
fawkes
fawkes::LoggingAspect
Definition:
logging.h:38
XabslLoggingErrorHandler
Definition:
xabsl_tools.h:34
XabslEngineThread::once
virtual void once()
Execute an action exactly once.
Definition:
engine_thread.cpp:198
fawkes::SkillerInterface
Definition:
SkillerInterface.h:39
fawkes::Time
Definition:
time.h:98
XabslEngineThread
Definition:
engine_thread.h:52
fawkes::Thread
Definition:
thread.h:45
XabslEngineThread::XabslEngineThread
XabslEngineThread()
Constructor.
Definition:
engine_thread.cpp:61
XabslEngineThread::init
virtual void init()
Initialize the thread.
Definition:
engine_thread.cpp:68
XabslEngineThread::loop
virtual void loop()
Code to execute in the thread.
Definition:
engine_thread.cpp:211
fawkes::ConfigurableAspect
Definition:
configurable.h:38
XabslSkillWrapper
Definition:
skill_wrapper.h:33
fawkes::ClockAspect
Definition:
clock.h:40
fawkes::ObjectPositionInterface
Definition:
ObjectPositionInterface.h:39
src
plugins
xabsl
engine_thread.h
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