Fawkes API
Fawkes Development Version
sensor_thread.h
1
2
/***************************************************************************
3
* sensor_thread.h - Robotis dynamixel servo sensor thread
4
*
5
* Created: Mon Mar 23 20:20:55 2015 (based on pantilt plugin)
6
* Copyright 2006-2015 Tim Niemueller [www.niemueller.de]
7
****************************************************************************/
8
9
/* This program is free software; you can redistribute it and/or modify
10
* it under the terms of the GNU General Public License as published by
11
* the Free Software Foundation; either version 2 of the License, or
12
* (at your option) any later version.
13
*
14
* This program is distributed in the hope that it will be useful,
15
* but WITHOUT ANY WARRANTY; without even the implied warranty of
16
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
17
* GNU Library General Public License for more details.
18
*
19
* Read the full text in the LICENSE.GPL file in the doc directory.
20
*/
21
22
#ifndef _PLUGINS_DYNAMIXEL_SENSOR_THREAD_H_
23
#define _PLUGINS_DYNAMIXEL_SENSOR_THREAD_H_
24
25
#include "sensor_thread.h"
26
27
#include <aspect/blocked_timing.h>
28
#include <aspect/configurable.h>
29
#include <aspect/logging.h>
30
#include <core/threading/thread.h>
31
32
class
DynamixelDriverThread
;
33
34
class
DynamixelSensorThread
:
public
fawkes::Thread
,
35
public
fawkes::BlockedTimingAspect
,
36
public
fawkes::LoggingAspect
,
37
public
fawkes::ConfigurableAspect
38
{
39
public
:
40
DynamixelSensorThread
();
41
virtual
void
loop
();
42
43
void
add_driver_thread
(
DynamixelDriverThread
*drv_thread);
44
45
/** Stub to see name in backtrace for easier debugging. @see Thread::run() */
46
protected
:
47
virtual
void
48
run
()
49
{
50
Thread::run();
51
}
52
53
private
:
54
std::list<DynamixelDriverThread *> driver_threads_;
55
};
56
57
#endif
DynamixelSensorThread::run
virtual void run()
Stub to see name in backtrace for easier debugging.
Definition:
sensor_thread.h:47
DynamixelDriverThread
Definition:
driver_thread.h:50
DynamixelSensorThread::add_driver_thread
void add_driver_thread(DynamixelDriverThread *drv_thread)
Add a driver thread to wake in SENSOR_ACQUIRE hook.
Definition:
sensor_thread.cpp:53
DynamixelSensorThread::loop
virtual void loop()
Code to execute in the thread.
Definition:
sensor_thread.cpp:42
DynamixelSensorThread::DynamixelSensorThread
DynamixelSensorThread()
Constructor.
Definition:
sensor_thread.cpp:35
fawkes::BlockedTimingAspect
Definition:
blocked_timing.h:54
fawkes::LoggingAspect
Definition:
logging.h:36
DynamixelSensorThread
Definition:
sensor_thread.h:33
fawkes::Thread
Definition:
thread.h:44
fawkes::ConfigurableAspect
Definition:
configurable.h:36
src
plugins
dynamixel
sensor_thread.h
Generated by
1.8.16