Fawkes API Fawkes Development Version
thread.h
1
2/***************************************************************************
3 * wm_thread.h - Fawkes TimeTrackerMainLoop Plugin Thread
4 *
5 * Created: Fri Jun 29 11:54:58 2007 (on flight to RoboCup 2007, Atlanta)
6 * Copyright 2006-2007 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_TTMAINLOOP_THREAD_H_
24#define _PLUGINS_TTMAINLOOP_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 <aspect/mainloop.h>
31#include <core/threading/thread.h>
32
33namespace fawkes {
34class Time;
35class TimeTracker;
36} // namespace fawkes
37
43{
44public:
47
48 virtual void init();
49 virtual void loop();
50 virtual void finalize();
51
52 /** Stub to see name in backtrace for easier debugging. @see Thread::run() */
53protected:
54 virtual void
56 {
57 Thread::run();
58 }
59
60private:
61 float output_interval_;
62 fawkes::Time *last_outp_time_;
63 fawkes::Time *now_;
64
65 fawkes::Time *loop_start_;
66 fawkes::Time *loop_end_;
67
69 unsigned int tt_loopcount_;
70 unsigned int ttc_pre_loop_;
71 unsigned int ttc_sensor_acquire_;
72 unsigned int ttc_sensor_prepare_;
73 unsigned int ttc_sensor_process_;
74 unsigned int ttc_worldstate_;
75 unsigned int ttc_think_;
76 unsigned int ttc_skill_;
77 unsigned int ttc_act_;
78 unsigned int ttc_post_loop_;
79 unsigned int ttc_netproc_;
80 unsigned int ttc_full_loop_;
81 unsigned int ttc_real_loop_;
82};
83
84#endif
Main thread of time tracker main loop plugin.
Definition: thread.h:43
virtual void finalize()
Finalize the thread.
Definition: thread.cpp:91
TimeTrackerMainLoopThread()
Constructor.
Definition: thread.cpp:36
virtual void loop()
Code to execute in the thread.
Definition: thread.cpp:101
virtual void init()
Initialize the thread.
Definition: thread.cpp:47
virtual void run()
Stub to see name in backtrace for easier debugging.
Definition: thread.h:55
virtual ~TimeTrackerMainLoopThread()
Destructor.
Definition: thread.cpp:42
Thread aspect that allows to obtain the current time from the clock.
Definition: clock.h:34
Thread aspect to access configuration data.
Definition: configurable.h:33
Thread aspect to log output.
Definition: logging.h:33
Thread aspect that allows to replace the main loop of the main application of Fawkes.
Definition: mainloop.h:35
Thread class encapsulation of pthreads.
Definition: thread.h:46
Time tracking utility.
Definition: tracker.h:37
A class for handling time.
Definition: time.h:93
Fawkes library namespace.