Fawkes API  Fawkes Development Version
sensor_thread.h
1 
2 /***************************************************************************
3  * sensor_thread.h - IMU thread that pushes data into the interface
4  *
5  * Created: Sun Jun 22 19:34:03 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_IMU_SENSOR_THREAD_H_
24 #define _PLUGINS_IMU_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 
34 namespace fawkes {
35 class IMUInterface;
36 }
37 
39 
42  public fawkes::LoggingAspect,
45 {
46 public:
47  IMUSensorThread(std::string &cfg_name, std::string &cfg_prefix, IMUAcquisitionThread *aqt);
48 
49  virtual void init();
50  virtual void finalize();
51  virtual void loop();
52 
53  /** Stub to see name in backtrace for easier debugging. @see Thread::run() */
54 protected:
55  virtual void
56  run()
57  {
58  Thread::run();
59  }
60 
61 private:
62  fawkes::IMUInterface *imu_if_;
63 
65 
66  std::string cfg_name_;
67  std::string cfg_frame_;
68  std::string cfg_prefix_;
69 };
70 
71 #endif
IMUSensorThread
IMU sensor thread.
Definition: sensor_thread.h:45
fawkes::IMUInterface
IMUInterface Fawkes BlackBoard Interface.
Definition: IMUInterface.h:34
IMUSensorThread::IMUSensorThread
IMUSensorThread(std::string &cfg_name, std::string &cfg_prefix, IMUAcquisitionThread *aqt)
Constructor.
Definition: sensor_thread.cpp:43
IMUSensorThread::run
virtual void run()
Stub to see name in backtrace for easier debugging.
Definition: sensor_thread.h:56
fawkes::BlockedTimingAspect
Thread aspect to use blocked timing.
Definition: blocked_timing.h:51
IMUAcquisitionThread
IMU acqusition thread.
Definition: acquisition_thread.h:44
fawkes::BlackBoardAspect
Thread aspect to access to BlackBoard.
Definition: blackboard.h:34
fawkes
Fawkes library namespace.
fawkes::LoggingAspect
Thread aspect to log output.
Definition: logging.h:33
IMUSensorThread::finalize
virtual void finalize()
Finalize the thread.
Definition: sensor_thread.cpp:71
IMUSensorThread::loop
virtual void loop()
Code to execute in the thread.
Definition: sensor_thread.cpp:77
fawkes::Thread
Thread class encapsulation of pthreads.
Definition: thread.h:46
fawkes::ConfigurableAspect
Thread aspect to access configuration data.
Definition: configurable.h:33
IMUSensorThread::init
virtual void init()
Initialize the thread.
Definition: sensor_thread.cpp:56