21 #ifndef FAWKES_GOLOGPP_THREAD_H_
22 #define FAWKES_GOLOGPP_THREAD_H_
24 #include <aspect/blackboard.h>
25 #include <aspect/configurable.h>
26 #include <aspect/logging.h>
27 #include <blackboard/interface_listener.h>
28 #include <core/threading/thread.h>
29 #include <golog++/model/execution.h>
35 class SkillerInterface;
51 virtual void init()
override;
52 virtual void once()
override;
61 std::filesystem::path find_prog_file(
const std::filesystem::path &spec)
const;
62 std::unique_ptr<gologpp::Instruction> main_prog_;
65 std::mutex run_mutex_;
Thread aspect to access to BlackBoard.
Thread aspect to access configuration data.
Thread aspect to log output.
SkillerInterface Fawkes BlackBoard Interface.
Thread class encapsulation of pthreads.
Watch/observe blackboard interfaces according to the mappings specified for exogenous actions in the ...
Main golog++ thread that handles program execution, i.e.
gologpp::ExecutionContext & gologpp_context()
GologppThread::gologpp_context.
virtual void once() override
Execute an action exactly once.
virtual bool prepare_finalize_user() override
Prepare finalization user implementation.
virtual void init() override
Initialize the thread.
virtual void finalize() override
Finalize the thread.
Fawkes library namespace.