Pan/tilt act thread. More...

#include "act_thread.h"

Inheritance diagram for PanTiltActThread:

Public Member Functions
	PanTiltActThread (const char *thread_name)
	Constructor.
virtual	~PanTiltActThread ()
	Destructor.
virtual void	update_sensor_values ()=0
	Update sensor values of the PTU in the BB interface.
Public Member Functions inherited from fawkes::Thread
virtual	~Thread ()
	Virtual destructor.
virtual void	init ()
	Initialize the thread.
bool	prepare_finalize ()
	Prepare finalization.
virtual bool	prepare_finalize_user ()
	Prepare finalization user implementation.
virtual void	finalize ()
	Finalize the thread.
void	cancel_finalize ()
	Cancel finalization.
void	start (bool wait=true)
	Call this method to start the thread.
void	cancel ()
	Cancel a thread.
void	join ()
	Join the thread.
void	detach ()
	Detach the thread.
void	kill (int sig)
	Send signal to a thread.
bool	operator== (const Thread &thread)
	Check if two threads are the same.
void	wakeup ()
	Wake up thread.
void	wakeup (Barrier *barrier)
	Wake up thread and wait for barrier afterwards.
void	wait_loop_done ()
	Wait for the current loop iteration to finish.
OpMode	opmode () const
	Get operation mode.
pthread_t	thread_id () const
	Get ID of thread.
bool	started () const
	Check if thread has been started.
bool	cancelled () const
	Check if thread has been cancelled.
bool	detached () const
	Check if thread has been detached.
bool	running () const
	Check if the thread is running.
bool	waiting () const
	Check if thread is currently waiting for wakeup.
const char *	name () const
	Get name of thread.
void	set_flags (uint32_t flags)
	Set all flags in one go.
void	set_flag (uint32_t flag)
	Set flag for the thread.
void	unset_flag (uint32_t flag)
	Unset flag.
bool	flagged_bad () const
	Check if FLAG_BAD was set.
void	set_delete_on_exit (bool del)
	Set whether the thread should be deleted on exit.
void	set_prepfin_hold (bool hold)
	Hold prepare_finalize().
void	add_notification_listener (ThreadNotificationListener *notification_listener)
	Add notification listener.
void	remove_notification_listener (ThreadNotificationListener *notification_listener)
	Remove notification listener.
Public Member Functions inherited from fawkes::BlockedTimingAspect
	BlockedTimingAspect (WakeupHook wakeup_hook)
	Constructor.
virtual	~BlockedTimingAspect ()
	Virtual empty destructor.
WakeupHook	blockedTimingAspectHook () const
	Get the wakeup hook.
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.
Public Member Functions inherited from fawkes::LoggingAspect
	LoggingAspect ()
	Constructor.
virtual	~LoggingAspect ()
	Virtual empty Destructor.
void	init_LoggingAspect (Logger *logger)
	Set the logger.
Public Member Functions inherited from fawkes::ConfigurableAspect
	ConfigurableAspect ()
	Constructor.
virtual	~ConfigurableAspect ()
	Virtual empty Destructor.
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).
Public Member Functions inherited from fawkes::BlackBoardAspect
	BlackBoardAspect ()
	Constructor.
virtual	~BlackBoardAspect ()
	Virtual empty destructor.
void	init_BlackBoardAspect (BlackBoard *bb)
	Init BlackBoard aspect.

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...
Public Types inherited from fawkes::BlockedTimingAspect
enum	WakeupHook { WAKEUP_HOOK_PRE_LOOP, WAKEUP_HOOK_SENSOR_ACQUIRE, WAKEUP_HOOK_SENSOR_PREPARE, WAKEUP_HOOK_SENSOR_PROCESS, WAKEUP_HOOK_WORLDSTATE, WAKEUP_HOOK_THINK, WAKEUP_HOOK_SKILL, WAKEUP_HOOK_ACT, WAKEUP_HOOK_ACT_EXEC, WAKEUP_HOOK_POST_LOOP }
	Type to define at which hook the thread is woken up. More...
Static Public Member Functions inherited from fawkes::Thread
static Thread *	current_thread ()
	Get the Thread instance of the currently running thread.
static Thread *	current_thread_noexc () throw ()
	Similar to current_thread, but does never throw an exception.
static pthread_t	current_thread_id ()
	Get the ID of the currently running thread.
static void	init_main ()
	Initialize Thread wrapper instance for main thread.
static void	destroy_main ()
	Destroy main thread wrapper instance.
static void	set_cancel_state (CancelState new_state, CancelState *old_state=0)
	Set the cancel state of the current thread.
Static Public Member Functions inherited from fawkes::BlockedTimingAspect
static const char *	blocked_timing_hook_to_string (WakeupHook hook)
	Get string for wakeup hook.
Static Public Attributes inherited from fawkes::Thread
static const unsigned int	FLAG_BAD = 0x00000001
	Standard thread flag: "thread is bad".
Protected Member Functions inherited from fawkes::Thread
	Thread (const char *name)
	Constructor.
	Thread (const char *name, OpMode op_mode)
	Constructor.
void	exit ()
	Exit the thread.
void	test_cancel ()
	Set cancellation point.
void	yield ()
	Yield the processor to another thread or process.
virtual void	run ()
	Code to execute in the thread.
void	set_opmode (OpMode op_mode)
	Set operation mode.
void	set_prepfin_conc_loop (bool concurrent=true)
	Set concurrent execution of prepare_finalize() and loop().
void	set_coalesce_wakeups (bool coalesce=true)
	Set wakeup coalescing.
void	set_name (const char *format,...)
	Set name of thread.
virtual void	once ()
	Execute an action exactly once.
virtual void	loop ()
	Code to execute in the thread.
bool	wakeup_pending ()
	Check if wakeups are pending.
Protected Attributes inherited from fawkes::Thread
bool	finalize_prepared
	True if prepare_finalize() has been called and was not stopped with a cancel_finalize(), false otherwise.
Mutex *	loop_mutex
	Mutex that is used to protect a call to loop().
Mutex *	loopinterrupt_antistarve_mutex
	Mutex to avoid starvation when trying to lock loop_mutex.
Protected Attributes inherited from fawkes::LoggingAspect
Logger *	logger
	This is the Logger member used to access the logger.
Protected Attributes inherited from fawkes::ConfigurableAspect
Configuration *	config
	This is the Configuration member used to access the configuration.
Protected Attributes inherited from fawkes::BlackBoardAspect
BlackBoard *	blackboard
	This is the BlackBoard instance you can use to interact with the BlackBoard.

Detailed Description

Pan/tilt act thread.

This thread integrates into the Fawkes main loop at the ACT_EXEC hook and interacts with the controller of a particular pan/tilt unit. Note that this abstract class is then implemented by threads interacting with a particular pan/tilt unit.

Each implementation of this thread shall open an instance of a PanTiltInterface and act within this thread's loop() method. The data read back from the unit shall be written in the update_sensor_values() method, that is called from the PanTiltSensorThread.

Author:: Tim Niemueller

Definition at line 36 of file act_thread.h.

Constructor & Destructor Documentation

PanTiltActThread::PanTiltActThread ( const char * thread_name )

Constructor.

Parameters:

thread_name thread name

Definition at line 48 of file act_thread.cpp.

PanTiltActThread::~PanTiltActThread ( )

virtual

Destructor.

Definition at line 56 of file act_thread.cpp.

Member Function Documentation

void PanTiltActThread::update_sensor_values ( )

pure virtual

Update sensor values of the PTU in the BB interface.

Implemented in PanTiltRX28Thread, PanTiltDirectedPerceptionThread, and PanTiltSonyEviD100PThread.

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

src/plugins/pantilt/act_thread.h
src/plugins/pantilt/act_thread.cpp

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation