Fawkes API  Fawkes Development Version
blocked_timing.h
1 
2 /***************************************************************************
3  * blocked_timing.h - Blocked timing aspect for Fawkes
4  *
5  * Created: Thu Jan 11 16:49:25 2007
6  * Copyright 2006-2010 Tim Niemueller [www.niemueller.de]
7  *
8  ****************************************************************************/
9 
10 /* This program is free software; you can redistribute it and/or modify
11  * it under the terms of the GNU General Public License as published by
12  * the Free Software Foundation; either version 2 of the License, or
13  * (at your option) any later version. A runtime exception applies to
14  * this software (see LICENSE.GPL_WRE file mentioned below for details).
15  *
16  * This program is distributed in the hope that it will be useful,
17  * but WITHOUT ANY WARRANTY; without even the implied warranty of
18  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
19  * GNU Library General Public License for more details.
20  *
21  * Read the full text in the LICENSE.GPL_WRE file in the doc directory.
22  */
23 
24 #ifndef __ASPECT_BLOCKED_TIMING_H_
25 #define __ASPECT_BLOCKED_TIMING_H_
26 
27 #include <aspect/aspect.h>
28 
29 namespace fawkes {
30 #if 0 /* just to make Emacs auto-indent happy */
31 }
32 #endif
33 
34 class BlockedTimingAspect : public virtual Aspect
35 {
36  public:
37  /** Type to define at which hook the thread is woken up.
38  * See FawkesMainThread for information when and in which order the hooks
39  * are called.
40  * @see FawkesMainThread::loop()
41  */
42  typedef enum {
43  WAKEUP_HOOK_PRE_LOOP, /**< before each loop */
44  WAKEUP_HOOK_SENSOR_ACQUIRE, /**< sensor acquisition thread,
45  * acquire data from sensor */
46  WAKEUP_HOOK_SENSOR_PREPARE, /**< sensor data preparation thread,
47  * convert acquired data to usable format */
48  WAKEUP_HOOK_SENSOR_PROCESS, /**< sensor data processing thread */
49  WAKEUP_HOOK_WORLDSTATE, /**< world state thread */
50  WAKEUP_HOOK_THINK, /**< think thread (agent) */
51  WAKEUP_HOOK_SKILL, /**< skill thread (skill module) */
52  WAKEUP_HOOK_ACT, /**< act thread (motor module etc.) */
53  WAKEUP_HOOK_ACT_EXEC, /**< act execution thread */
54  WAKEUP_HOOK_POST_LOOP /**< run after loop */
55  } WakeupHook;
56 
57  BlockedTimingAspect(WakeupHook wakeup_hook);
58  virtual ~BlockedTimingAspect();
59 
60  static const char * blocked_timing_hook_to_string(WakeupHook hook);
61 
62  WakeupHook blockedTimingAspectHook() const;
63 
64  private:
65  WakeupHook __wakeup_hook;
66 };
67 
68 } // end namespace fawkes
69 
70 #endif
act thread (motor module etc.)
Fawkes aspect base class.
Definition: aspect.h:34
Fawkes library namespace.
Thread aspect to use blocked timing.