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sensor_thread.h
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/***************************************************************************
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* sensor_thread.h - Laser thread that puses data into the interface
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*
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* Created: Wed Oct 08 13:32:34 2008
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* Copyright 2006-2008 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_LASER_SENSOR_THREAD_H_
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#define __PLUGINS_LASER_SENSOR_THREAD_H_
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#include <core/threading/thread.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 <string>
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namespace
fawkes {
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class
Laser360Interface;
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class
Laser720Interface;
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}
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class
LaserAcquisitionThread
;
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class
LaserSensorThread
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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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{
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public
:
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LaserSensorThread
(std::string &cfg_name, std::string &cfg_prefix,
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LaserAcquisitionThread
*aqt);
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virtual
void
init
();
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virtual
void
finalize
();
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virtual
void
loop
();
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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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fawkes::Laser360Interface
*__laser360_if;
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fawkes::Laser720Interface
*__laser720_if;
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LaserAcquisitionThread
*__aqt;
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unsigned
int
__num_values;
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std::string __cfg_name;
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std::string __cfg_frame;
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std::string __cfg_prefix;
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};
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#endif
src
plugins
laser
sensor_thread.h
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