Fawkes API
Fawkes Development Version
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23 #include "dp_thread.h"
27 #include <core/threading/mutex_locker.h>
28 #include <interfaces/JointInterface.h>
29 #include <interfaces/PanTiltInterface.h>
50 std::string &ptu_cfg_prefix,
51 std::string &ptu_name)
55 set_name(
"PanTiltDirectedPerceptionThread(%s)", ptu_name.c_str());
57 pantilt_cfg_prefix_ = pantilt_cfg_prefix;
58 ptu_cfg_prefix_ = ptu_cfg_prefix;
70 cfg_read_timeout_ms_ =
config->
get_uint((ptu_cfg_prefix_ +
"read_timeout_ms").c_str());
75 std::string bbid =
"PanTilt " + ptu_name_;
78 float min_pan = 0, max_pan = 0, min_tilt = 0, max_tilt = 0;
79 ptu_->
get_limits(min_pan, max_pan, min_tilt, max_tilt);
94 float init_tilt = 0.f;
95 float init_pan_velocity = 0.f;
96 float init_tilt_velocity = 0.f;
98 std::string panid = ptu_name_ +
" pan";
102 panjoint_if_->
write();
104 std::string tiltid = ptu_name_ +
" tilt";
108 tiltjoint_if_->
write();
110 wt_ =
new WorkerThread(ptu_name_,
logger, ptu_);
118 #ifdef USE_TIMETRACKER
121 ttc_read_sensor_ = tt_->add_class(
"Read Sensor");
148 if (wt_->has_fresh_data()) {
149 float pan = 0, tilt = 0;
150 wt_->get_pantilt(pan, tilt);
154 pantilt_if_->
write();
157 panjoint_if_->
write();
160 tiltjoint_if_->
write();
176 wt_->goto_pantilt(msg->
pan(), msg->
tilt());
183 wt_->goto_pantilt(0, 0);
222 pantilt_if_->
write();
234 logger->
log_info(name(),
"Flushing message queue");
235 pantilt_if_->msgq_flush();
238 logger->
log_info(name(),
"Received message of type %s, enqueueing", message->type());
257 PanTiltDirectedPerceptionThread::WorkerThread::WorkerThread(
258 std::string ptu_name,
263 set_name(
"SonyDirectedPerceptionWorkerThread(%s)", ptu_name.c_str());
268 move_mutex_ =
new Mutex();
271 move_pending_ =
false;
272 reset_pending_ =
false;
276 ptu_->
get_limits(pan_min_, pan_max_, tilt_min_, tilt_max_);
280 PanTiltDirectedPerceptionThread::WorkerThread::~WorkerThread()
287 PanTiltDirectedPerceptionThread::WorkerThread::stop_motion()
289 float pan = 0, tilt = 0;
290 get_pantilt(pan, tilt);
291 goto_pantilt(pan, tilt);
299 PanTiltDirectedPerceptionThread::WorkerThread::goto_pantilt(
float pan,
float tilt)
304 move_pending_ =
true;
313 PanTiltDirectedPerceptionThread::WorkerThread::get_pantilt(
float &pan,
float &tilt)
321 PanTiltDirectedPerceptionThread::WorkerThread::reset()
323 reset_pending_ =
true;
330 PanTiltDirectedPerceptionThread::WorkerThread::is_final()
333 return ((fabs(cur_pan_ - target_pan_) < 0.01) && (fabs(cur_tilt_ - target_tilt_) < 0.01));
341 PanTiltDirectedPerceptionThread::WorkerThread::has_fresh_data()
343 bool rv = fresh_data_;
349 PanTiltDirectedPerceptionThread::WorkerThread::loop()
353 exec_goto_pantilt(target_pan_, target_tilt_);
354 move_mutex_->unlock();
357 if (reset_pending_) {
359 reset_pending_ =
false;
360 move_mutex_->unlock();
365 ptu_->get_pan_tilt_rad(cur_pan_, cur_tilt_);
368 logger_->log_warn(name(),
"Failed to get new pan/tilt data, exception follows");
369 logger_->log_warn(name(), e);
383 PanTiltDirectedPerceptionThread::WorkerThread::exec_goto_pantilt(
float pan_rad,
float tilt_rad)
385 if ((pan_rad < pan_min_) || (pan_rad > pan_max_)) {
387 name(),
"Pan value out of bounds, min: %f max: %f des: %f", pan_min_, pan_max_, pan_rad);
390 if ((tilt_rad < tilt_min_) || (tilt_rad > tilt_max_)) {
391 logger_->log_warn(name(),
392 "Tilt value out of bounds, min: %f max: %f des: %f",
399 ptu_->set_pan_tilt_rad(pan_rad, tilt_rad);
400 move_pending_ =
false;
bool msgq_first_is()
Check if first message has desired type.
void set_max_tilt(const float new_max_tilt)
Set max_tilt value.
void msgq_pop()
Erase first message from queue.
bool msgq_empty()
Check if queue is empty.
void set_min_tilt(const float new_min_tilt)
Set min_tilt value.
virtual void register_listener(BlackBoardInterfaceListener *listener, ListenerRegisterFlag flag=BBIL_FLAG_ALL)
Register BB event listener.
StopMessage Fawkes BlackBoard Interface Message.
Mutex mutual exclusion lock.
void update_sensor_values()
Update sensor values as necessary.
PanTiltInterface Fawkes BlackBoard Interface.
Base class for all messages passed through interfaces in Fawkes BlackBoard.
virtual void init()
Initialize the thread.
void set_calibrated(const bool new_calibrated)
Set calibrated value.
void set_position(const float new_position)
Set position value.
DirectedPerception PTU implementation.
virtual void unregister_listener(BlackBoardInterfaceListener *listener)
Unregister BB interface listener.
BlackBoard interface listener.
virtual void loop()
Code to execute in the thread.
const char * name() const
Get name of thread.
void set_velocity(const float new_velocity)
Set velocity value.
SetVelocityMessage Fawkes BlackBoard Interface Message.
float tilt() const
Get tilt value.
Logger * logger
This is the Logger member used to access the logger.
void set_max_pan(const float new_max_pan)
Set max_pan value.
virtual void close(Interface *interface)=0
Close interface.
void set_coalesce_wakeups(bool coalesce=true)
Set wakeup coalescing.
GotoMessage Fawkes BlackBoard Interface Message.
Fawkes library namespace.
virtual void finalize()
Finalize the thread.
void set_enabled(const bool new_enabled)
Set enabled value.
void set_pan(const float new_pan)
Set pan value.
virtual void log_warn(const char *component, const char *format,...)=0
Log warning message.
ParkMessage Fawkes BlackBoard Interface Message.
void bbil_add_message_interface(Interface *interface)
Add an interface to the message received watch list.
Base class for all Fawkes BlackBoard interfaces.
void set_msgid(const uint32_t new_msgid)
Set msgid value.
FlushMessage Fawkes BlackBoard Interface Message.
virtual bool bb_interface_message_received(fawkes::Interface *interface, fawkes::Message *message)
BlackBoard message received notification.
SetEnabledMessage Fawkes BlackBoard Interface Message.
Configuration * config
This is the Configuration member used to access the configuration.
JointInterface Fawkes BlackBoard Interface.
PanTiltDirectedPerceptionThread(std::string &pantilt_cfg_prefix, std::string &ptu_cfg_prefix, std::string &ptu_name)
Constructor.
CalibrateMessage Fawkes BlackBoard Interface Message.
float pan() const
Get pan value.
Thread class encapsulation of pthreads.
BlackBoard * blackboard
This is the BlackBoard instance you can use to interact with the BlackBoard.
virtual unsigned int get_uint(const char *path)=0
Get value from configuration which is of type unsigned int.
virtual std::string get_string(const char *path)=0
Get value from configuration which is of type string.
unsigned int id() const
Get message ID.
Message * msgq_first()
Get the first message from the message queue.
void set_min_pan(const float new_min_pan)
Set min_pan value.
void write()
Write from local copy into BlackBoard memory.
void set_final(const bool new_final)
Set final value.
virtual Interface * open_for_writing(const char *interface_type, const char *identifier, const char *owner=NULL)=0
Open interface for writing.
virtual void get_limits(float &pan_min, float &pan_max, float &tilt_min, float &tilt_max)
Get position limits in radians.
void set_name(const char *format,...)
Set name of thread.
void set_tilt(const float new_tilt)
Set tilt value.
virtual void log_info(const char *component, const char *format,...)
Log informational message.
Base class for exceptions in Fawkes.