Fawkes API
Fawkes Development Version
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22 #ifndef _PLUGINS_NAO_DCM_THREAD_H_
23 #define _PLUGINS_NAO_DCM_THREAD_H_
25 #include <alcommon/alproxy.h>
26 #include <althread/alprocesssignals.h>
27 #include <aspect/blackboard.h>
28 #include <aspect/blocked_timing.h>
29 #include <aspect/clock.h>
30 #include <aspect/configurable.h>
31 #include <aspect/logging.h>
32 #include <core/threading/thread.h>
33 #include <core/utils/lock_vector.h>
34 #include <interfaces/NaoJointPositionInterface.h>
35 #include <interfaces/NaoSensorInterface.h>
36 #include <plugins/nao/aspect/naoqi.h>
41 class ALMemoryFastAccess;
44 class NaoJointStiffnessInterface;
77 void process_messages();
78 std::vector<std::string> parse_servo_bitfield(
unsigned int servos);
80 void send_commands(
unsigned int servos,
const std::string &what,
float value,
int time_offset);
81 void send_command(
const std::string &
name,
float value,
const std::string &kind,
int time_offset);
86 HighFreqThread *highfreq_thread_;
89 AL::ALPtr<AL::DCMProxy> dcm_;
90 AL::ALPtr<AL::ALMotionProxy> almotion_;
91 AL::ALPtr<AL::ALMemoryFastAccess> memfa_;
92 bool robocup_version_;
94 AL::ALProcessSignals::ProcessSignalConnection dcm_sigconn_;
106 uint8_t robot_version_[4];
108 int usboard_version_;
110 AL::ALValue alljoint_names_;
Thread to provide DCM to Fawkes.
virtual void run()
Stub to see name in backtrace for easier debugging.
virtual void init()
Initialize the thread.
UltrasonicDirection
This determines the chosen sender/receiver.
NaoSensorInterface Fawkes BlackBoard Interface.
NaoJointStiffnessInterface Fawkes BlackBoard Interface.
Thread aspect to get access to NaoQi broker.
Thread aspect to use blocked timing.
const char * name() const
Get name of thread.
Thread aspect to access to BlackBoard.
Fawkes library namespace.
Thread aspect to log output.
RobotType
Enumeration describing the actual version of the robot that's being used.
virtual ~NaoQiDCMThread()
Destructor.
virtual void loop()
Code to execute in the thread.
NaoJointPositionInterface Fawkes BlackBoard Interface.
Thread class encapsulation of pthreads.
Thread aspect to access configuration data.
Thread aspect that allows to obtain the current time from the clock.
NaoQiDCMThread()
Constructor.
virtual void finalize()
Finalize the thread.