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sensor_thread.cpp
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/***************************************************************************
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* sensor_thread.cpp - Pan/tilt plugin sensor thread
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*
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* Created: Thu Jun 18 19:01:59 2009
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* Copyright 2006-2009 Tim Niemueller [www.niemueller.de]
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*
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****************************************************************************/
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/* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU Library General Public License for more details.
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*
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* Read the full text in the LICENSE.GPL file in the doc directory.
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*/
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#include "sensor_thread.h"
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#include "act_thread.h"
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using namespace
fawkes;
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/** @class PanTiltSensorThread "sensor_thread.h"
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* Katana sensor thread.
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* This thread integrates into the Fawkes main loop at the SENSOR hook and
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* triggers the act threads to retrieve and write new sensor data.
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* @author Tim Niemueller
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*/
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/** Constructor. */
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PanTiltSensorThread::PanTiltSensorThread
()
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:
Thread
(
"PanTiltSensorThread"
,
Thread
::OPMODE_WAITFORWAKEUP),
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BlockedTimingAspect
(
BlockedTimingAspect
::WAKEUP_HOOK_SENSOR_ACQUIRE)
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{
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}
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/** Add an act thread.
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* @param act_thread to add
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*/
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void
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PanTiltSensorThread::add_act_thread
(
PanTiltActThread
*act_thread)
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{
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__act_threads.push_back(act_thread);
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}
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void
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PanTiltSensorThread::loop
()
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{
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for
(__ati = __act_threads.begin(); __ati != __act_threads.end(); ++__ati) {
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try
{
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(*__ati)->update_sensor_values();
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}
catch
(
Exception
&e) {
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logger
->
log_warn
(
name
(),
"Act thread %s threw an exception when updating sensor values"
,
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(*__ati)->name());
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logger
->
log_warn
(
name
(), e);
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}
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}
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}
src
plugins
pantilt
sensor_thread.cpp
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