Fawkes API  Fawkes Development Version
gex_receiver_thread.h
1 
2 /***************************************************************************
3  * gex_receiver_thread.h - Gossip Example Plugin - Receiver
4  *
5  * Created: Thu Mar 06 10:39:53 2014
6  * Copyright 2006-2014 Tim Niemueller [www.niemueller.de]
7  ****************************************************************************/
8 
9 /* This program is free software; you can redistribute it and/or modify
10  * it under the terms of the GNU General Public License as published by
11  * the Free Software Foundation; either version 2 of the License, or
12  * (at your option) any later version.
13  *
14  * This program is distributed in the hope that it will be useful,
15  * but WITHOUT ANY WARRANTY; without even the implied warranty of
16  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
17  * GNU Library General Public License for more details.
18  *
19  * Read the full text in the LICENSE.GPL file in the doc directory.
20  */
21 
22 #ifndef _PLUGINS_GOSSIP_EXAMPLE_GEX_RECEIVER_THREAD_H_
23 #define _PLUGINS_GOSSIP_EXAMPLE_GEX_RECEIVER_THREAD_H_
24 
25 #include <aspect/blocked_timing.h>
26 #include <aspect/clock.h>
27 #include <aspect/logging.h>
28 #include <core/threading/thread.h>
29 #include <plugins/gossip/aspect/gossip.h>
30 #include <plugins/gossip/gossip/gossip_group.h>
31 
33  public fawkes::ClockAspect,
34  public fawkes::LoggingAspect,
37 {
38 public:
41 
42  virtual void init();
43  virtual void loop();
44  virtual void finalize();
45 
46  /** Stub to see name in backtrace for easier debugging. @see Thread::run() */
47 protected:
48  virtual void
49  run()
50  {
51  Thread::run();
52  }
53 
54 private:
55  void handle_peer_msg(boost::asio::ip::udp::endpoint & endpoint,
56  uint16_t component_id,
57  uint16_t msg_type,
58  std::shared_ptr<google::protobuf::Message> msg);
59  void handle_peer_recv_error(boost::asio::ip::udp::endpoint &endpoint, std::string msg);
60  void handle_peer_send_error(std::string msg);
61 
62 private:
63  boost::signals2::connection sig_rcvd_conn_;
64  boost::signals2::connection sig_recv_error_conn_;
65  boost::signals2::connection sig_send_error_conn_;
66 };
67 
68 #endif
Gossip Example Plugin Thread - Receiver.
virtual void run()
Stub to see name in backtrace for easier debugging.
virtual void finalize()
Finalize the thread.
virtual ~GossipExampleReceiverThread()
Destructor.
virtual void init()
Initialize the thread.
virtual void loop()
Code to execute in the thread.
Thread aspect to use blocked timing.
Thread aspect that allows to obtain the current time from the clock.
Definition: clock.h:34
Thread aspect to communicate with a group of robots.
Definition: gossip.h:38
Thread aspect to log output.
Definition: logging.h:33
Thread class encapsulation of pthreads.
Definition: thread.h:46