Katana act thread. More...
#include "act_thread.h"
Public Member Functions | |
KatanaActThread () | |
Constructor. | |
virtual void | init () |
virtual void | finalize () |
virtual void | once () |
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. |
Katana act thread.
This thread integrates into the Fawkes main loop at the ACT_EXEC hook and interacts with the controller of the Katana arm via the KNI library.
Definition at line 56 of file act_thread.h.
KatanaActThread::KatanaActThread | ( | ) |
Constructor.
Definition at line 42 of file act_thread.cpp.
bool KatanaActThread::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 360 of file act_thread.cpp.
virtual void KatanaActThread::run | ( | ) | [inline, protected, virtual] |
Stub to see name in backtrace for easier debugging.
Definition at line 79 of file act_thread.h.
void KatanaActThread::update_sensor_values | ( | ) |
Update sensor values as necessary.
To be called only from KatanaSensorThread. Makes the local decision whether sensor can be written (calibration is not running) and whether the data needs to be refreshed (no active motion).
Definition at line 181 of file act_thread.cpp.
References fawkes::Thread::loop_mutex.