Fawkes API  Fawkes Development Version
navgraph_breakout_thread.h
1 
2 /***************************************************************************
3  * navgraph_breakout_thread.h - Provide navgraph-like API through ROS
4  *
5  * Created: Fri Jan 27 11:20:32 2017
6  * Copyright 2017 Tim Niemueller
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 _ROS_NAVGRAPH_BREAKOUT_THREAD_H_
23 #define _ROS_NAVGRAPH_BREAKOUT_THREAD_H_
24 
25 #include <actionlib/client/simple_action_client.h>
26 #include <aspect/blackboard.h>
27 #include <aspect/blocked_timing.h>
28 #include <aspect/configurable.h>
29 #include <aspect/logging.h>
30 #include <core/threading/thread.h>
31 #include <fawkes_msgs/NavGraphGotoAction.h>
32 #include <fawkes_msgs/NavGraphGotoGoal.h>
33 #include <ros/ros.h>
34 
35 #include <string>
36 
37 namespace fawkes {
38 class NavigatorInterface;
39 }
40 
43  public fawkes::LoggingAspect,
46 {
47 public:
49 
50  virtual void init();
51  virtual void finalize();
52  virtual void loop();
53 
54  /** Stub to see name in backtrace for easier debugging. @see Thread::run() */
55 protected:
56  virtual void
57  run()
58  {
59  Thread::run();
60  }
61 
62 private:
63  typedef actionlib::SimpleActionClient<fawkes_msgs::NavGraphGotoAction> NavGraphGotoClient;
64 
65  std::string cfg_action_topic_;
66 
67  fawkes::NavigatorInterface * pp_nav_if_;
68  NavGraphGotoClient * ac_;
69  fawkes_msgs::NavGraphGotoGoal goal_;
70  bool goal_active_;
71  bool was_connected_;
72 };
73 
74 #endif /* ROS_NAVIGATOR_THREAD_H__ */
Provide navgraph-like API through ROS.
virtual void init()
Initialize the thread.
virtual void loop()
Code to execute in the thread.
virtual void finalize()
Finalize the thread.
virtual void run()
Stub to see name in backtrace for easier debugging.
Thread aspect to access to BlackBoard.
Definition: blackboard.h:34
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
NavigatorInterface Fawkes BlackBoard Interface.
Thread class encapsulation of pthreads.
Definition: thread.h:46
Fawkes library namespace.