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
38
class
IMUAcquisitionThread
;
39
40
class
IMUSensorThread
:
public
fawkes::Thread
,
41
public
fawkes::BlockedTimingAspect
,
42
public
fawkes::LoggingAspect
,
43
public
fawkes::ConfigurableAspect
,
44
public
fawkes::BlackBoardAspect
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
64
IMUAcquisitionThread
*aqt_;
65
66
std::string cfg_name_;
67
std::string cfg_frame_;
68
std::string cfg_prefix_;
69
};
70
71
#endif
IMUSensorThread
Definition:
sensor_thread.h:39
fawkes::IMUInterface
Definition:
IMUInterface.h:37
IMUSensorThread::IMUSensorThread
IMUSensorThread(std::string &cfg_name, std::string &cfg_prefix, IMUAcquisitionThread *aqt)
Constructor.
Definition:
sensor_thread.cpp:42
IMUSensorThread::run
virtual void run()
Stub to see name in backtrace for easier debugging.
Definition:
sensor_thread.h:55
fawkes::BlockedTimingAspect
Definition:
blocked_timing.h:54
IMUAcquisitionThread
Definition:
acquisition_thread.h:38
fawkes::BlackBoardAspect
Definition:
blackboard.h:36
fawkes
fawkes::LoggingAspect
Definition:
logging.h:36
IMUSensorThread::finalize
virtual void finalize()
Finalize the thread.
Definition:
sensor_thread.cpp:70
IMUSensorThread::loop
virtual void loop()
Code to execute in the thread.
Definition:
sensor_thread.cpp:76
fawkes::Thread
Definition:
thread.h:44
fawkes::ConfigurableAspect
Definition:
configurable.h:36
IMUSensorThread::init
virtual void init()
Initialize the thread.
Definition:
sensor_thread.cpp:55
src
plugins
imu
sensor_thread.h
Generated by
1.8.16