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wm_thread.h
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/***************************************************************************
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* wm_thread.h - Fawkes WorldModel Plugin Thread
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*
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* Created: Fri Jun 29 11:54:58 2007 (on flight to RoboCup 2007, Atlanta)
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* Copyright 2006-2007 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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#ifndef __PLUGINS_WORLDMODEL_WM_THREAD_H_
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#define __PLUGINS_WORLDMODEL_WM_THREAD_H_
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#include <core/threading/thread.h>
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#include <core/utils/lock_list.h>
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#include <aspect/blocked_timing.h>
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#include <aspect/logging.h>
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#include <aspect/configurable.h>
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#include <aspect/blackboard.h>
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#include <aspect/network.h>
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#include <aspect/clock.h>
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namespace
fawkes {
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class
WorldInfoTransceiver;
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class
ObjectPositionInterface;
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}
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class
WorldModelNetworkThread
;
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class
WorldModelFuser
;
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class
WorldModelThread
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:
public
fawkes::Thread
,
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public
fawkes::BlockedTimingAspect
,
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public
fawkes::LoggingAspect
,
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public
fawkes::ConfigurableAspect
,
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public
fawkes::BlackBoardAspect
,
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public
fawkes::ClockAspect
,
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public
fawkes::NetworkAspect
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{
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public
:
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WorldModelThread
(
WorldModelNetworkThread
*net_thread);
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virtual
~WorldModelThread
();
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virtual
void
init
();
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virtual
void
loop
();
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virtual
void
finalize
();
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void
init_failure_cleanup
();
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/** Stub to see name in backtrace for easier debugging. @see Thread::run() */
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protected
:
virtual
void
run
() { Thread::run(); }
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private
:
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std::string __cfg_confspace;
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WorldModelNetworkThread
*__net_thread;
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std::list<WorldModelFuser *> __fusers;
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std::list<WorldModelFuser *>::iterator __fit;
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bool
__wi_send_enabled;
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unsigned
int
__wi_send_interval;
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unsigned
int
__wi_send_counter;
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fawkes::ObjectPositionInterface
* __wi_send_ball;
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fawkes::ObjectPositionInterface
* __wi_send_pose;
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};
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#endif
src
plugins
worldmodel
wm_thread.h
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