23 #ifndef __PLUGINS_ROBOTINO_SENSOR_THREAD_H_
24 #define __PLUGINS_ROBOTINO_SENSOR_THREAD_H_
26 #include <core/threading/thread.h>
27 #include <aspect/blocked_timing.h>
28 #include <aspect/logging.h>
29 #include <aspect/configurable.h>
30 #include <aspect/blackboard.h>
35 #define NUM_IR_SENSORS 9
43 namespace sharedmemory {
47 namespace robotstate {
54 class BatteryInterface;
55 class RobotinoSensorInterface;
74 protected:
virtual void run() { Thread::run(); }
77 void update_distances(
float *distances);
80 std::string cfg_hostname_;
81 bool cfg_quit_on_disconnect_;
82 rec::robotino::com::Com *com_;
83 unsigned int last_seqnum_;
85 rec::iocontrol::robotstate::State *state_;
91 std::vector<std::pair<double, double> > voltage_to_dist_dps_;
virtual void run()
Stub to see name in backtrace for easier debugging.
Thread aspect to access to BlackBoard.
virtual void finalize()
Finalize the thread.
BatteryInterface Fawkes BlackBoard Interface.
RobotinoSensorThread()
Constructor.
Thread class encapsulation of pthreads.
RobotinoSensorInterface Fawkes BlackBoard Interface.
Thread aspect to use blocked timing.
virtual void init()
Initialize the thread.
Robotino act hook integration thread.
Thread aspect to log output.
Robotino sensor hook integration thread.
Thread aspect to access configuration data.
virtual void loop()
Code to execute in the thread.