Fawkes API
Fawkes Development Version
act_thread.h
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/***************************************************************************
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* act_thread.h - Robotis dynamixel servo actuator integration
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*
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* Created: Mon Mar 23 20:23:33 2015 (based on pantilt plugin)
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* Copyright 2006-2015 Tim Niemueller [www.niemueller.de]
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****************************************************************************/
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/* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU Library General Public License for more details.
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*
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* Read the full text in the LICENSE.GPL file in the doc directory.
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*/
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#ifndef _PLUGINS_DYNAMIXEL_ACT_THREAD_H_
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#define _PLUGINS_DYNAMIXEL_ACT_THREAD_H_
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#include <aspect/blocked_timing.h>
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#include <aspect/configurable.h>
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#include <aspect/logging.h>
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#include <core/threading/thread.h>
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class
DynamixelDriverThread
;
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class
DynamixelActThread
:
public
fawkes::Thread
,
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public
fawkes::LoggingAspect
,
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public
fawkes::ConfigurableAspect
,
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public
fawkes::SyncPointAspect
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{
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public
:
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DynamixelActThread
();
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virtual
void
loop
();
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void
add_driver_thread
(
DynamixelDriverThread
*drv_thread);
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/** Stub to see name in backtrace for easier debugging. @see Thread::run() */
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protected
:
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virtual
void
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run
()
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{
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Thread::run();
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}
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private
:
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std::list<DynamixelDriverThread *> driver_threads_;
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};
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#endif
DynamixelDriverThread
Definition:
driver_thread.h:50
DynamixelActThread::loop
virtual void loop()
Code to execute in the thread.
Definition:
act_thread.cpp:44
DynamixelActThread::DynamixelActThread
DynamixelActThread()
Constructor.
Definition:
act_thread.cpp:37
DynamixelActThread
Definition:
act_thread.h:31
DynamixelActThread::run
virtual void run()
Stub to see name in backtrace for easier debugging.
Definition:
act_thread.h:45
fawkes::LoggingAspect
Definition:
logging.h:36
fawkes::Thread
Definition:
thread.h:44
DynamixelActThread::add_driver_thread
void add_driver_thread(DynamixelDriverThread *drv_thread)
Add a driver thread to wake in ACT hook.
Definition:
act_thread.cpp:55
fawkes::ConfigurableAspect
Definition:
configurable.h:36
fawkes::SyncPointAspect
Definition:
syncpoint.h:38
src
plugins
dynamixel
act_thread.h
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