Fawkes API  Fawkes Development Version
periodic_exec_thread.h
1 
2 /***************************************************************************
3  * periodic_exec_thread.h - Fawkes LuaAgent: Periodic Execution Thread
4  *
5  * Created: Thu Jan 01 11:12:13 2009
6  * Copyright 2006-2011 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_LUAAGENT_PERIODIC_EXEC_THREAD_H_
24 #define _PLUGINS_LUAAGENT_PERIODIC_EXEC_THREAD_H_
25 
26 #include <aspect/blackboard.h>
27 #include <aspect/blocked_timing.h>
28 #include <aspect/clock.h>
29 #include <aspect/configurable.h>
30 #include <aspect/logging.h>
31 #include <core/threading/thread.h>
32 #ifdef HAVE_TF
33 # include <aspect/tf.h>
34 #endif
35 #include <blackboard/interface_listener.h>
36 #include <utils/system/fam.h>
37 
38 #include <cstdlib>
39 #include <string>
40 
41 namespace fawkes {
42 class ComponentLogger;
43 class Mutex;
44 class LuaContext;
45 class LuaInterfaceImporter;
46 class Interface;
47 class SkillerInterface;
48 class SkillerDebugInterface;
49 } // namespace fawkes
50 
53  public fawkes::LoggingAspect,
56 #ifdef HAVE_TF
58 #endif
59  public fawkes::ClockAspect
60 {
61 public:
64 
65  virtual void init();
66  virtual void loop();
67  virtual void finalize();
68 
69  /** Stub to see name in backtrace for easier debugging. @see Thread::run() */
70 protected:
71  virtual void
72  run()
73  {
74  Thread::run();
75  }
76 
77 private: /* methods */
78  void init_failure_cleanup();
79  void process_agdbg_messages();
80 
81 private: /* members */
83 
84  // config values
85  std::string cfg_agent_;
86  bool cfg_watch_files_;
87 
88  fawkes::SkillerInterface * skiller_if_;
90 
91  fawkes::LuaContext * lua_;
93 };
94 
95 #endif
LuaAgent Periodic Execution Thread.
virtual ~LuaAgentPeriodicExecutionThread()
Destructor.
virtual void run()
Stub to see name in backtrace for easier debugging.
virtual void loop()
Code to execute in the thread.
virtual void init()
Initialize the thread.
virtual void finalize()
Finalize the thread.
Thread aspect to access to BlackBoard.
Definition: blackboard.h:34
Thread aspect to use blocked timing.
Thread aspect that allows to obtain the current time from the clock.
Definition: clock.h:34
Component logger.
Definition: component.h:36
Thread aspect to access configuration data.
Definition: configurable.h:33
Thread aspect to log output.
Definition: logging.h:33
Lua C++ wrapper.
Definition: context.h:44
Lua interface importer.
SkillerDebugInterface Fawkes BlackBoard Interface.
SkillerInterface Fawkes BlackBoard Interface.
Thread class encapsulation of pthreads.
Definition: thread.h:46
Thread aspect to access the transform system.
Definition: tf.h:39
Fawkes library namespace.