Fawkes API
Fawkes Development Version
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00001 00002 /*************************************************************************** 00003 * sensor_thread.cpp - Pan/tilt plugin sensor thread 00004 * 00005 * Created: Thu Jun 18 19:01:59 2009 00006 * Copyright 2006-2009 Tim Niemueller [www.niemueller.de] 00007 * 00008 ****************************************************************************/ 00009 00010 /* This program is free software; you can redistribute it and/or modify 00011 * it under the terms of the GNU General Public License as published by 00012 * the Free Software Foundation; either version 2 of the License, or 00013 * (at your option) any later version. 00014 * 00015 * This program is distributed in the hope that it will be useful, 00016 * but WITHOUT ANY WARRANTY; without even the implied warranty of 00017 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00018 * GNU Library General Public License for more details. 00019 * 00020 * Read the full text in the LICENSE.GPL file in the doc directory. 00021 */ 00022 00023 #include "sensor_thread.h" 00024 #include "act_thread.h" 00025 00026 using namespace fawkes; 00027 00028 /** @class PanTiltSensorThread "sensor_thread.h" 00029 * Katana sensor thread. 00030 * This thread integrates into the Fawkes main loop at the SENSOR hook and 00031 * triggers the act threads to retrieve and write new sensor data. 00032 * @author Tim Niemueller 00033 */ 00034 00035 /** Constructor. */ 00036 PanTiltSensorThread::PanTiltSensorThread() 00037 : Thread("PanTiltSensorThread", Thread::OPMODE_WAITFORWAKEUP), 00038 BlockedTimingAspect(BlockedTimingAspect::WAKEUP_HOOK_SENSOR) 00039 { 00040 } 00041 00042 00043 /** Add an act thread. 00044 * @param act_thread to add 00045 */ 00046 void 00047 PanTiltSensorThread::add_act_thread(PanTiltActThread *act_thread) 00048 { 00049 __act_threads.push_back(act_thread); 00050 } 00051 00052 00053 void 00054 PanTiltSensorThread::loop() 00055 { 00056 for (__ati = __act_threads.begin(); __ati != __act_threads.end(); ++__ati) { 00057 try { 00058 (*__ati)->update_sensor_values(); 00059 } catch (Exception &e) { 00060 logger->log_warn(name(), "Act thread %s threw an exception when updating sensor values", 00061 (*__ati)->name()); 00062 logger->log_warn(name(), e); 00063 } 00064 } 00065 }