Fawkes API  Fawkes Development Version
CruizCoreXG1010AcquisitionThread Class Reference

#include "imu_cruizcore_xg1010.h"

Inheritance diagram for CruizCoreXG1010AcquisitionThread:

Public Member Functions

 CruizCoreXG1010AcquisitionThread (std::string &cfg_name, std::string &cfg_prefix, bool continuous)
 Constructor. More...
 
virtual void init ()
 Initialize the thread. More...
 
virtual void finalize ()
 Finalize the thread. More...
 
virtual void loop ()
 Code to execute in the thread. More...
 
- Public Member Functions inherited from IMUAcquisitionThread
 IMUAcquisitionThread (const char *thread_name, bool continuous, const std::string &cfg_name, const std::string &cfg_prefix)
 Constructor. More...
 
bool lock_if_new_data ()
 Lock data if fresh. More...
 
void unlock ()
 Unlock data,. More...
 
const float * get_orientation ()
 Get orientation data. More...
 
const double * get_orientation_covariance ()
 Get orientation covariance. More...
 
const float * get_angular_velocity ()
 Get angular velocity data. More...
 
const double * get_angular_velocity_covariance ()
 Get angular velocity covariance. More...
 
const float * get_linear_acceleration ()
 Get linear acceleration data. More...
 
const double * get_linear_acceleration_covariance ()
 Get linera acceleration covariance. More...
 
const fawkes::Timeget_timestamp ()
 Get time of data set. More...
 
- Public Member Functions inherited from fawkes::Thread
virtual ~Thread ()
 Virtual destructor. More...
 
bool prepare_finalize ()
 Prepare finalization. More...
 
virtual bool prepare_finalize_user ()
 Prepare finalization user implementation. More...
 
void cancel_finalize ()
 Cancel finalization. More...
 
void start (bool wait=true)
 Call this method to start the thread. More...
 
void cancel ()
 Cancel a thread. More...
 
void join ()
 Join the thread. More...
 
void detach ()
 Detach the thread. More...
 
void kill (int sig)
 Send signal to a thread. More...
 
bool operator== (const Thread &thread)
 Check if two threads are the same. More...
 
void wakeup ()
 Wake up thread. More...
 
void wakeup (Barrier *barrier)
 Wake up thread and wait for barrier afterwards. More...
 
void wait_loop_done ()
 Wait for the current loop iteration to finish. More...
 
OpMode opmode () const
 Get operation mode. More...
 
pthread_t thread_id () const
 Get ID of thread. More...
 
bool started () const
 Check if thread has been started. More...
 
bool cancelled () const
 Check if thread has been cancelled. More...
 
bool detached () const
 Check if thread has been detached. More...
 
bool running () const
 Check if the thread is running. More...
 
bool waiting () const
 Check if thread is currently waiting for wakeup. More...
 
const char * name () const
 
void set_flags (uint32_t flags)
 Set all flags in one go. More...
 
void set_flag (uint32_t flag)
 Set flag for the thread. More...
 
void unset_flag (uint32_t flag)
 Unset flag. More...
 
bool flagged_bad () const
 Check if FLAG_BAD was set. More...
 
void set_delete_on_exit (bool del)
 Set whether the thread should be deleted on exit. More...
 
void set_prepfin_hold (bool hold)
 Hold prepare_finalize(). More...
 
void add_notification_listener (ThreadNotificationListener *notification_listener)
 Add notification listener. More...
 
void remove_notification_listener (ThreadNotificationListener *notification_listener)
 Remove notification listener. More...
 
void notify_of_failed_init ()
 Notify of failed init. More...
 
void add_loop_listener (ThreadLoopListener *loop_listener)
 Add loop listener. More...
 
void remove_loop_listener (ThreadLoopListener *loop_listener)
 Remove loop listener. More...
 
- Public Member Functions inherited from fawkes::LoggingAspect
 LoggingAspect ()
 Constructor. More...
 
virtual ~LoggingAspect ()
 Virtual empty Destructor. More...
 
void init_LoggingAspect (Logger *logger)
 Set the logger. More...
 
- Public Member Functions inherited from fawkes::Aspect
const std::list< const char * > & get_aspects () const
 Get list of aspect names attached to a aspected thread. More...
 
- Public Member Functions inherited from fawkes::ConfigurableAspect
 ConfigurableAspect ()
 Constructor. More...
 
virtual ~ConfigurableAspect ()
 Virtual empty Destructor. More...
 
void init_ConfigurableAspect (Configuration *config)
 Set the configuration It is guaranteed that this is called for a configurable thread before Thread::start() is called (when running regularly inside Fawkes). More...
 
- Public Member Functions inherited from fawkes::ClockAspect
 ClockAspect ()
 Constructor. More...
 
virtual ~ClockAspect ()
 Virtual empty destructor. More...
 
void init_ClockAspect (Clock *clock)
 Set the clock. More...
 
- Public Member Functions inherited from fawkes::BlackBoardAspect
 BlackBoardAspect (const char *owner=NULL)
 Constructor. More...
 
virtual ~BlackBoardAspect ()
 Virtual empty destructor. More...
 
void init_BlackBoardAspect (BlackBoard *bb)
 Init BlackBoard aspect. More...
 

Additional Inherited Members

- Public Types inherited from fawkes::Thread
enum  OpMode { OPMODE_CONTINUOUS, OPMODE_WAITFORWAKEUP }
 Thread operation mode. More...
 
enum  CancelState { CANCEL_ENABLED, CANCEL_DISABLED }
 Cancel state. More...
 
- Static Public Member Functions inherited from fawkes::Thread
static Threadcurrent_thread ()
 Get the Thread instance of the currently running thread. More...
 
static Threadcurrent_thread_noexc () throw ()
 Similar to current_thread, but does never throw an exception. More...
 
static pthread_t current_thread_id ()
 Get the ID of the currently running thread. More...
 
static std::string current_thread_name ()
 Get the name of the current thread. More...
 
static void current_thread_name (const std::string &thread_name)
 Set the name of the current thread. More...
 
static void init_main ()
 Initialize Thread wrapper instance for main thread. More...
 
static void destroy_main ()
 Destroy main thread wrapper instance. More...
 
static void set_cancel_state (CancelState new_state, CancelState *old_state=0)
 Set the cancel state of the current thread. More...
 
- Static Public Attributes inherited from fawkes::Thread
static const unsigned int FLAG_BAD = 0x00000001
 Standard thread flag: "thread is bad". More...
 
- Protected Member Functions inherited from IMUAcquisitionThread
virtual void run ()
 Stub to see name in backtrace for easier debugging. More...
 
- Protected Member Functions inherited from fawkes::Thread
 Thread (const char *name)
 Constructor. More...
 
 Thread (const char *name, OpMode op_mode)
 Constructor. More...
 
void exit ()
 Exit the thread. More...
 
void test_cancel ()
 Set cancellation point. More...
 
void yield ()
 Yield the processor to another thread or process. More...
 
void set_opmode (OpMode op_mode)
 Set operation mode. More...
 
void set_prepfin_conc_loop (bool concurrent=true)
 Set concurrent execution of prepare_finalize() and loop(). More...
 
void set_coalesce_wakeups (bool coalesce=true)
 Set wakeup coalescing. More...
 
void set_name (const char *format,...)
 Set name of thread. More...
 
virtual void once ()
 Execute an action exactly once. More...
 
bool wakeup_pending ()
 Check if wakeups are pending. More...
 
- Protected Member Functions inherited from fawkes::Aspect
void add_aspect (const char *name)
 Add an aspect to a thread. More...
 
- Protected Attributes inherited from IMUAcquisitionThread
std::string cfg_name_
 
std::string cfg_prefix_
 
std::string cfg_frame_
 
bool cfg_continuous_
 
fawkes::Mutexdata_mutex_
 
fawkes::Timetimestamp_
 
bool new_data_
 
float orientation_ [4]
 
double orientation_covariance_ [9]
 
float angular_velocity_ [3]
 
double angular_velocity_covariance_ [9]
 
float linear_acceleration_ [3]
 
double linear_acceleration_covariance_ [9]
 
- Protected Attributes inherited from fawkes::Thread
bool finalize_prepared
 
Mutexloop_mutex
 
Mutexloopinterrupt_antistarve_mutex
 
- Protected Attributes inherited from fawkes::LoggingAspect
Loggerlogger
 
- Protected Attributes inherited from fawkes::ConfigurableAspect
Configurationconfig
 
- Protected Attributes inherited from fawkes::ClockAspect
Clockclock
 
- Protected Attributes inherited from fawkes::BlackBoardAspect
BlackBoardblackboard
 

Detailed Description

IMU acquisition thread for CruizCore XG1010 gyros.

Author
Tim Niemueller

Definition at line 43 of file imu_cruizcore_xg1010.h.

Constructor & Destructor Documentation

◆ CruizCoreXG1010AcquisitionThread()

CruizCoreXG1010AcquisitionThread::CruizCoreXG1010AcquisitionThread ( std::string &  cfg_name,
std::string &  cfg_prefix,
bool  continuous 
)

Constructor.

Parameters
cfg_nameshort name of configuration group
cfg_prefixconfiguration path prefix
continuoustrue to run continuous, false otherwise

Definition at line 93 of file imu_cruizcore_xg1010.cpp.

References fawkes::Thread::set_name().

Member Function Documentation

◆ finalize()

void CruizCoreXG1010AcquisitionThread::finalize ( )
virtual

Finalize the thread.

This method is executed just before the thread is canceled and destroyed. It is always preceeded by a call to prepare_finalize(). If this is not the case this is a failure. The condition can be checked with the boolean variable finalize_prepared.

This method is meant to be used in conjunction with aspects and to cover thread inter-dependencies. This routine MUST bring the thread into a safe state such that it may be canceled and destroyed afterwards. If there is any reason that this cannot happen make your prepare_finalize() reports so.

This method is called by the thread manager just before the thread is being cancelled. Here you can do whatever steps are necessary just before the thread is cancelled. Note that you thread is still running and might be in the middle of a loop, so it is not a good place to give up on all resources used. Mind segmentation faults that could happen. Protect the area with a mutex that you lock at the beginning of your loop and free in the end, and that you lock at the beginning of finalize and then never unlock. Also not that the finalization may be canceled afterwards. The next thing that happens is that either the thread is canceled and destroyed or that the finalization is canceled and the thread has to run again.

Finalize is called on a thread just before it is deleted. It is guaranteed to be called on a fully initialized thread (if no exception is thrown in init()) (this guarantee holds in the Fawkes framework).

The default implementation does nothing besides throwing an exception if prepare_finalize() has not been called.

Exceptions
Exceptionthrown if prepare_finalize() has not been called.
See also
prepare_finalize()
cancel_finalize()

Reimplemented from IMUAcquisitionThread.

Definition at line 153 of file imu_cruizcore_xg1010.cpp.

References IMUAcquisitionThread::cfg_continuous_, and IMUAcquisitionThread::finalize().

◆ init()

void CruizCoreXG1010AcquisitionThread::init ( )
virtual

Initialize the thread.

This method is meant to be used in conjunction with aspects. Some parts of the initialization may only happen after some aspect of the thread has been initialized. Implement the init method with these actions. It is guaranteed to be called just after all aspects have been initialized and only once in the lifetime of the thread. Throw an exception if any problem occurs and the thread should not run.

Just because your init() routine suceeds and everything looks fine for this thread does not automatically imply that it will run. If it belongs to a group of threads in a ThreadList and any of the other threads fail to initialize then no thread from this group is run and thus this thread will never run. In that situation finalize() is called for this very instance, prepare_finalize() however is not called.

See also
Fawkes Thread Aspects

Reimplemented from IMUAcquisitionThread.

Definition at line 105 of file imu_cruizcore_xg1010.cpp.

References IMUAcquisitionThread::angular_velocity_covariance_, IMUAcquisitionThread::cfg_continuous_, IMUAcquisitionThread::cfg_prefix_, fawkes::ConfigurableAspect::config, fawkes::deg2rad(), fawkes::Configuration::get_string(), fawkes::Configuration::get_uint(), IMUAcquisitionThread::init(), and IMUAcquisitionThread::linear_acceleration_.

◆ loop()

void CruizCoreXG1010AcquisitionThread::loop ( )
virtual

The documentation for this class was generated from the following files: