Fawkes API  Fawkes Development Version
sensor_thread.h
00001 
00002 /***************************************************************************
00003  *  sensor_thread.h - Laser thread that puses data into the interface
00004  *
00005  *  Created: Wed Oct 08 13:32:34 2008
00006  *  Copyright  2006-2008  Tim Niemueller [www.niemueller.de]
00007  *
00008  ****************************************************************************/
00009 
00010 /*  This program is free software; you can redistribute it and/or modify
00011  *  it under the terms of the GNU General Public License as published by
00012  *  the Free Software Foundation; either version 2 of the License, or
00013  *  (at your option) any later version.
00014  *
00015  *  This program is distributed in the hope that it will be useful,
00016  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
00017  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00018  *  GNU Library General Public License for more details.
00019  *
00020  *  Read the full text in the LICENSE.GPL file in the doc directory.
00021  */
00022 
00023 #ifndef __PLUGINS_LASER_SENSOR_THREAD_H_
00024 #define __PLUGINS_LASER_SENSOR_THREAD_H_
00025 
00026 #include <core/threading/thread.h>
00027 #include <aspect/blocked_timing.h>
00028 #include <aspect/logging.h>
00029 #include <aspect/configurable.h>
00030 #include <aspect/blackboard.h>
00031 
00032 #include <string>
00033 
00034 namespace fawkes {
00035   class Laser360Interface;
00036   class Laser720Interface;
00037 }
00038 
00039 class LaserAcquisitionThread;
00040 class LaserDataFilterCascade;
00041 class LaserReverseAngleDataFilter;
00042 
00043 class LaserSensorThread
00044 : public fawkes::Thread,
00045   public fawkes::BlockedTimingAspect,
00046   public fawkes::LoggingAspect,
00047   public fawkes::ConfigurableAspect,
00048   public fawkes::BlackBoardAspect
00049 {
00050  public:
00051   LaserSensorThread(std::string &cfg_name, std::string &cfg_prefix,
00052                     LaserAcquisitionThread *aqt);
00053 
00054   virtual void init();
00055   virtual void finalize();
00056   virtual void loop();
00057 
00058  /** Stub to see name in backtrace for easier debugging. @see Thread::run() */
00059  protected: virtual void run() { Thread::run(); }
00060 
00061  private:
00062   fawkes::Laser360Interface *__laser360_if;
00063   fawkes::Laser720Interface *__laser720_if;
00064 
00065   LaserAcquisitionThread *__aqt;
00066 
00067   LaserDataFilterCascade *__filters720;
00068   LaserDataFilterCascade *__filters360;
00069 
00070 
00071   bool                         __clockwise_angle;
00072   fawkes::Laser360Interface   *__reverse360_if;
00073   fawkes::Laser720Interface   *__reverse720_if;
00074   LaserReverseAngleDataFilter *__reverse360;
00075   LaserReverseAngleDataFilter *__reverse720;
00076 
00077   unsigned int            __num_values;
00078 
00079   std::string             __cfg_name;
00080   std::string             __cfg_prefix;
00081 };
00082 
00083 
00084 #endif