Fawkes API  Fawkes Development Version
talkerpub_thread.h
1 
2 /***************************************************************************
3  * talkerpub_thread.h - Publish talker messages via ROS
4  *
5  * Created: Thu May 05 18:48:40 2011
6  * Copyright 2006-2011 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_ROS_TALKERPUB_THREAD_H_
24 #define _PLUGINS_ROS_TALKERPUB_THREAD_H_
25 
26 #include <aspect/blocked_timing.h>
27 #include <aspect/clock.h>
28 #include <aspect/configurable.h>
29 #include <aspect/logging.h>
30 #include <core/threading/thread.h>
31 #include <core/utils/lockptr.h>
32 #include <plugins/ros/aspect/ros.h>
33 #include <ros/publisher.h>
34 
35 class ROSTalkerPubThread : public fawkes::Thread,
37  public fawkes::LoggingAspect,
39  public fawkes::ClockAspect,
40  public fawkes::ROSAspect
41 {
42 public:
44  virtual ~ROSTalkerPubThread();
45 
46  virtual void init();
47  virtual void loop();
48  virtual void finalize();
49 
50  /** Stub to see name in backtrace for easier debugging. @see Thread::run() */
51 protected:
52  virtual void
53  run()
54  {
55  Thread::run();
56  }
57 
58 private:
59  ros::Publisher pub_;
60 };
61 
62 #endif
ROSTalkerPubThread::finalize
virtual void finalize()
Finalize the thread.
Definition: talkerpub_thread.cpp:54
ROSTalkerPubThread
Definition: talkerpub_thread.h:34
fawkes::BlockedTimingAspect
Definition: blocked_timing.h:54
ROSTalkerPubThread::~ROSTalkerPubThread
virtual ~ROSTalkerPubThread()
Destructor.
Definition: talkerpub_thread.cpp:43
ROSTalkerPubThread::init
virtual void init()
Initialize the thread.
Definition: talkerpub_thread.cpp:48
ROSTalkerPubThread::loop
virtual void loop()
Code to execute in the thread.
Definition: talkerpub_thread.cpp:60
fawkes::LoggingAspect
Definition: logging.h:36
fawkes::ROSAspect
Definition: ros.h:37
fawkes::Thread
Definition: thread.h:44
fawkes::ConfigurableAspect
Definition: configurable.h:36
fawkes::ClockAspect
Definition: clock.h:38
ROSTalkerPubThread::run
virtual void run()
Stub to see name in backtrace for easier debugging.
Definition: talkerpub_thread.h:57
ROSTalkerPubThread::ROSTalkerPubThread
ROSTalkerPubThread()
Constructor.
Definition: talkerpub_thread.cpp:36