PanTilt act thread for RX28 PTU. More...
#include "rx28_thread.h"
Classes | |
class | WorkerThread |
Worker thread for the PanTiltRX28Thread. | |
Public Member Functions | |
PanTiltRX28Thread (std::string &pantilt_cfg_prefix, std::string &ptu_cfg_prefix, std::string &ptu_name) | |
Constructor. | |
virtual void | init () |
virtual void | finalize () |
virtual void | loop () |
virtual bool | bb_interface_message_received (fawkes::Interface *interface, fawkes::Message *message) throw () |
BlackBoard message received notification. | |
void | update_sensor_values () |
Update sensor values as necessary. | |
Protected Member Functions | |
virtual void | run () |
Stub to see name in backtrace for easier debugging. |
PanTilt act thread for RX28 PTU.
This thread integrates into the Fawkes main loop at the ACT_EXEC hook and interacts with the controller of the RX28 PTU.
Definition at line 43 of file rx28_thread.h.
PanTiltRX28Thread::PanTiltRX28Thread | ( | std::string & | pantilt_cfg_prefix, | |
std::string & | ptu_cfg_prefix, | |||
std::string & | ptu_name | |||
) |
Constructor.
pantilt_cfg_prefix | pantilt plugin configuration prefix | |
ptu_cfg_prefix | configuration prefix specific for the PTU | |
ptu_name | name of the PTU configuration |
Definition at line 47 of file rx28_thread.cpp.
References fawkes::Thread::set_name().
bool PanTiltRX28Thread::bb_interface_message_received | ( | fawkes::Interface * | interface, | |
fawkes::Message * | message | |||
) | throw () [virtual] |
BlackBoard message received notification.
This is called whenever a message is received for this interface. This method is only called for writing instances of an interface, never on reading instances. If you have processed the message already, you can order that the message is not enqueued by returning false. Returning true will enqueue the message as usual. You should only do very (very!) quick tasks directly in this method, as it is out of the regular thread context and can harm performance of other plugins and the system as a whole. Note that if you decide to return false the message is not referenced. If you want to keep it longer you have to ref() it by yourself. An example where this would really make sense is a "STOP" message for the motor, which needs to be processed ASAP and maybe even waiting a couple of miliseconds for the next cycle is not acceptable.
interface | interface instance that you supplied to bbil_add_message_interface() | |
message | the message that was sent |
Reimplemented from fawkes::BlackBoardInterfaceListener.
Definition at line 296 of file rx28_thread.cpp.
References fawkes::Interface::msgq_flush().
virtual void PanTiltRX28Thread::run | ( | ) | [inline, protected, virtual] |
Stub to see name in backtrace for easier debugging.
Definition at line 63 of file rx28_thread.h.
void PanTiltRX28Thread::update_sensor_values | ( | ) |
Update sensor values as necessary.
To be called only from PanTiltSensorThread. Writes the current pan/tilt data into the interface.
Definition at line 192 of file rx28_thread.cpp.
References fawkes::PanTiltInterface::set_enabled(), fawkes::PanTiltInterface::set_final(), fawkes::PanTiltInterface::set_pan(), fawkes::PanTiltInterface::set_pan_velocity(), fawkes::PanTiltInterface::set_tilt(), fawkes::PanTiltInterface::set_tilt_velocity(), and fawkes::Interface::write().