Fawkes API  Fawkes Development Version
act_thread.cpp
1 
2 /***************************************************************************
3  * act_thread.cpp - Dynamixel plugin act thread
4  *
5  * Created: Tue Mar 24 14:55:57 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 #include "act_thread.h"
23 
24 #include "driver_thread.h"
25 
26 using namespace fawkes;
27 
28 /** @class DynamixelActThread "act_thread.h"
29  * Robotis dynamixel servo act thread.
30  * This thread integrates into the Fawkes main loop at the ACT_EXEC hook and
31  * calls the driver thread to accept new actuation commands.
32  *
33  * @author Tim Niemueller
34  */
35 
36 /** Constructor. */
38 : Thread("DynamixelActThread", Thread::OPMODE_CONTINUOUS),
39  SyncPointAspect(SyncPoint::WAIT_FOR_ALL, "/sensors/acquire", "/act/exec/end")
40 {
41 }
42 
43 void
45 {
46  for (auto &d : driver_threads_) {
47  d->exec_act();
48  }
49 }
50 
51 /** Add a driver thread to wake in ACT hook.
52  * @param drv_thread driver thread to add
53  */
54 void
56 {
57  driver_threads_.push_back(drv_thread);
58 }
void add_driver_thread(DynamixelDriverThread *drv_thread)
Add a driver thread to wake in ACT hook.
Definition: act_thread.cpp:55
DynamixelActThread()
Constructor.
Definition: act_thread.cpp:37
virtual void loop()
Code to execute in the thread.
Definition: act_thread.cpp:44
Driver thread for Robotis dynamixel servos.
Definition: driver_thread.h:56
Thread aspect to acces to SyncPoints Give this aspect to your thread to manage SyncPoints,...
Definition: syncpoint.h:35
The SyncPoint class.
Definition: syncpoint.h:50
Thread class encapsulation of pthreads.
Definition: thread.h:46
Fawkes library namespace.