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
33
38{
39public:
41 virtual void loop();
42
44
45 /** Stub to see name in backtrace for easier debugging. @see Thread::run() */
46protected:
47 virtual void
49 {
50 Thread::run();
51 }
52
53private:
54 std::list<DynamixelDriverThread *> driver_threads_;
55};
56
57#endif
Driver thread for Robotis dynamixel servos.
Definition: driver_thread.h:56
Robotis dynamixel servo sensor thread.
Definition: sensor_thread.h:38
void add_driver_thread(DynamixelDriverThread *drv_thread)
Add a driver thread to wake in SENSOR_ACQUIRE hook.
DynamixelSensorThread()
Constructor.
virtual void loop()
Code to execute in the thread.
virtual void run()
Stub to see name in backtrace for easier debugging.
Definition: sensor_thread.h:48
Thread aspect to use blocked timing.
Thread aspect to access configuration data.
Definition: configurable.h:33
Thread aspect to log output.
Definition: logging.h:33
Thread class encapsulation of pthreads.
Definition: thread.h:46