Fawkes API
Fawkes Development Version
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Laser acqusition thread. More...
#include "acquisition_thread.h"
Public Member Functions | |
LaserAcquisitionThread (const char *thread_name) | |
Constructor. More... | |
bool | lock_if_new_data () |
Lock data if fresh. More... | |
void | unlock () |
Unlock data,. More... | |
virtual void | pre_init (fawkes::Configuration *config, fawkes::Logger *logger)=0 |
Pre initialization. More... | |
const float * | get_distance_data () |
Get distance data. More... | |
const float * | get_echo_data () |
Get echo data. More... | |
const fawkes::Time * | get_timestamp () |
Get timestamp of data. More... | |
unsigned int | get_distance_data_size () |
Get distance data size. More... | |
unsigned int | get_echo_data_size () |
Get echo data size. More... | |
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virtual | ~Thread () |
Virtual destructor. More... | |
virtual void | init () |
Initialize the thread. More... | |
bool | prepare_finalize () |
Prepare finalization. More... | |
virtual bool | prepare_finalize_user () |
Prepare finalization user implementation. More... | |
virtual void | finalize () |
Finalize the thread. More... | |
void | cancel_finalize () |
Cancel finalization. More... | |
void | start (bool wait=true) |
Call this method to start the thread. More... | |
void | cancel () |
Cancel a thread. More... | |
void | join () |
Join the thread. More... | |
void | detach () |
Detach the thread. More... | |
void | kill (int sig) |
Send signal to a thread. More... | |
bool | operator== (const Thread &thread) |
Check if two threads are the same. More... | |
void | wakeup () |
Wake up thread. More... | |
void | wakeup (Barrier *barrier) |
Wake up thread and wait for barrier afterwards. More... | |
void | wait_loop_done () |
Wait for the current loop iteration to finish. More... | |
OpMode | opmode () const |
Get operation mode. More... | |
pthread_t | thread_id () const |
Get ID of thread. More... | |
bool | started () const |
Check if thread has been started. More... | |
bool | cancelled () const |
Check if thread has been cancelled. More... | |
bool | detached () const |
Check if thread has been detached. More... | |
bool | running () const |
Check if the thread is running. More... | |
bool | waiting () const |
Check if thread is currently waiting for wakeup. More... | |
const char * | name () const |
Get name of thread. More... | |
void | set_flags (uint32_t flags) |
Set all flags in one go. More... | |
void | set_flag (uint32_t flag) |
Set flag for the thread. More... | |
void | unset_flag (uint32_t flag) |
Unset flag. More... | |
bool | flagged_bad () const |
Check if FLAG_BAD was set. More... | |
void | set_delete_on_exit (bool del) |
Set whether the thread should be deleted on exit. More... | |
void | set_prepfin_hold (bool hold) |
Hold prepare_finalize(). More... | |
void | add_notification_listener (ThreadNotificationListener *notification_listener) |
Add notification listener. More... | |
void | remove_notification_listener (ThreadNotificationListener *notification_listener) |
Remove notification listener. More... | |
void | notify_of_failed_init () |
Notify of failed init. More... | |
void | add_loop_listener (ThreadLoopListener *loop_listener) |
Add loop listener. More... | |
void | remove_loop_listener (ThreadLoopListener *loop_listener) |
Remove loop listener. More... | |
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LoggingAspect () | |
Constructor. More... | |
virtual | ~LoggingAspect () |
Virtual empty Destructor. More... | |
void | init_LoggingAspect (Logger *logger) |
Set the logger. More... | |
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const std::list< const char * > & | get_aspects () const |
Get list of aspect names attached to a aspected thread. More... | |
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ConfigurableAspect () | |
Constructor. More... | |
virtual | ~ConfigurableAspect () |
Virtual empty Destructor. More... | |
void | init_ConfigurableAspect (Configuration *config) |
Set the configuration It is guaranteed that this is called for a configurable thread before Thread::start() is called (when running regularly inside Fawkes). More... | |
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ClockAspect () | |
Constructor. More... | |
virtual | ~ClockAspect () |
Virtual empty destructor. More... | |
void | init_ClockAspect (Clock *clock) |
Set the clock. More... | |
Protected Member Functions | |
virtual void | run () |
Stub to see name in backtrace for easier debugging. More... | |
void | alloc_distances (unsigned int num_distances) |
Allocate distances array. More... | |
void | alloc_echoes (unsigned int num_echoes) |
Allocate echoes array. More... | |
void | reset_distances () |
Reset all distance values to NaN. More... | |
void | reset_echoes () |
Reset all distance values to NaN. More... | |
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Thread (const char *name) | |
Constructor. More... | |
Thread (const char *name, OpMode op_mode) | |
Constructor. More... | |
void | exit () |
Exit the thread. More... | |
void | test_cancel () |
Set cancellation point. More... | |
void | yield () |
Yield the processor to another thread or process. More... | |
void | set_opmode (OpMode op_mode) |
Set operation mode. More... | |
void | set_prepfin_conc_loop (bool concurrent=true) |
Set concurrent execution of prepare_finalize() and loop(). More... | |
void | set_coalesce_wakeups (bool coalesce=true) |
Set wakeup coalescing. More... | |
void | set_name (const char *format,...) |
Set name of thread. More... | |
virtual void | once () |
Execute an action exactly once. More... | |
virtual void | loop () |
Code to execute in the thread. More... | |
bool | wakeup_pending () |
Check if wakeups are pending. More... | |
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void | add_aspect (const char *name) |
Add an aspect to a thread. More... | |
Protected Attributes | |
fawkes::Mutex * | _data_mutex |
Lock while writing to distances or echoes array or marking new data. More... | |
fawkes::Time * | _timestamp |
Time when the most recent data was received. More... | |
bool | _new_data |
Set to true in your loop if new data is available. More... | |
float * | _distances |
Allocate a float array and copy your distance values measured in meters here. More... | |
float * | _echoes |
Allocate a float array and copy your echo values here. More... | |
unsigned int | _distances_size |
Assign this the size of the _distances array. More... | |
unsigned int | _echoes_size |
Assign this the size of the _echoes array. More... | |
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bool | finalize_prepared |
True if prepare_finalize() has been called and was not stopped with a cancel_finalize(), false otherwise. More... | |
Mutex * | loop_mutex |
Mutex that is used to protect a call to loop(). More... | |
Mutex * | loopinterrupt_antistarve_mutex |
Mutex to avoid starvation when trying to lock loop_mutex. More... | |
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Logger * | logger |
This is the Logger member used to access the logger. More... | |
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Configuration * | config |
This is the Configuration member used to access the configuration. More... | |
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Clock * | clock |
By means of this member access to the clock is given. More... | |
Additional Inherited Members | |
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enum | OpMode { OPMODE_CONTINUOUS , OPMODE_WAITFORWAKEUP } |
Thread operation mode. More... | |
enum | CancelState { CANCEL_ENABLED , CANCEL_DISABLED } |
Cancel state. More... | |
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static Thread * | current_thread () |
Get the Thread instance of the currently running thread. More... | |
static Thread * | current_thread_noexc () noexcept |
Similar to current_thread, but does never throw an exception. More... | |
static pthread_t | current_thread_id () |
Get the ID of the currently running thread. More... | |
static std::string | current_thread_name () |
Get the name of the current thread. More... | |
static void | current_thread_name (const std::string &thread_name) |
Set the name of the current thread. More... | |
static void | init_main () |
Initialize Thread wrapper instance for main thread. More... | |
static void | destroy_main () |
Destroy main thread wrapper instance. More... | |
static void | set_cancel_state (CancelState new_state, CancelState *old_state=0) |
Set the cancel state of the current thread. More... | |
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static const unsigned int | FLAG_BAD = 0x00000001 |
Standard thread flag: "thread is bad". More... | |
Laser acqusition thread.
Interface for different laser types.
Definition at line 38 of file acquisition_thread.h.
LaserAcquisitionThread::LaserAcquisitionThread | ( | const char * | thread_name | ) |
Constructor.
thread_name | name of the thread, be descriptive |
Definition at line 78 of file acquisition_thread.cpp.
References _data_mutex, _distances, _distances_size, _echoes, _echoes_size, _new_data, and _timestamp.
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Allocate distances array.
Call this from a laser acqusition thread implementation to properly initialize the distances array.
num_distances | number of distances to allocate the array for |
Definition at line 174 of file acquisition_thread.cpp.
References _distances, and _distances_size.
Referenced by HokuyoUrgAcquisitionThread::init(), HokuyoUrgGbxAcquisitionThread::init(), and SickTiM55xCommonAcquisitionThread::pre_init().
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Allocate echoes array.
Call this from a laser acqusition thread implementation to properly initialize the echoes array.
num_echoes | number of echoes to allocate the array for |
Definition at line 190 of file acquisition_thread.cpp.
References _echoes, and _echoes_size.
Referenced by SickTiM55xCommonAcquisitionThread::pre_init().
const float * LaserAcquisitionThread::get_distance_data | ( | ) |
Get distance data.
Definition at line 125 of file acquisition_thread.cpp.
References _distances, and _new_data.
Referenced by LaserSensorThread::loop().
unsigned int LaserAcquisitionThread::get_distance_data_size | ( | ) |
Get distance data size.
Definition at line 145 of file acquisition_thread.cpp.
References _distances_size.
Referenced by LaserSensorThread::init().
const float * LaserAcquisitionThread::get_echo_data | ( | ) |
Get echo data.
Definition at line 135 of file acquisition_thread.cpp.
unsigned int LaserAcquisitionThread::get_echo_data_size | ( | ) |
Get echo data size.
Definition at line 154 of file acquisition_thread.cpp.
References _echoes_size.
const fawkes::Time * LaserAcquisitionThread::get_timestamp | ( | ) |
Get timestamp of data.
Definition at line 163 of file acquisition_thread.cpp.
References _timestamp.
Referenced by LaserSensorThread::loop().
bool LaserAcquisitionThread::lock_if_new_data | ( | ) |
Lock data if fresh.
If new data has been received since get_distance_data() or get_echo_data() was called last the data is locked, no new data can arrive until you call unlock(), otherwise the lock is immediately released after checking.
Definition at line 103 of file acquisition_thread.cpp.
References _data_mutex, _new_data, fawkes::Mutex::lock(), and fawkes::Mutex::unlock().
Referenced by LaserSensorThread::loop().
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pure virtual |
Pre initialization.
This method is called by the sensor thread for pre-initialization. After this method has been executed the methods get_distances_data_size() and get_echo_data_size() must return valid data.
config | configuration |
logger | logger instance |
Implemented in HokuyoUrgGbxAcquisitionThread, HokuyoUrgAcquisitionThread, SickTiM55xCommonAcquisitionThread, and LaseEdlAcquisitionThread.
Referenced by LaserSensorThread::init().
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Reset all distance values to NaN.
Definition at line 202 of file acquisition_thread.cpp.
References _data_mutex, _distances, _distances_size, _new_data, fawkes::Mutex::lock(), and fawkes::Mutex::unlock().
Referenced by SickTiM55xEthernetAcquisitionThread::loop(), and SickTiM55xUSBAcquisitionThread::loop().
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Reset all distance values to NaN.
Definition at line 217 of file acquisition_thread.cpp.
References _echoes, and _echoes_size.
Referenced by SickTiM55xEthernetAcquisitionThread::loop(), and SickTiM55xUSBAcquisitionThread::loop().
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inlineprotectedvirtual |
Stub to see name in backtrace for easier debugging.
Reimplemented from fawkes::Thread.
Definition at line 62 of file acquisition_thread.h.
void LaserAcquisitionThread::unlock | ( | void | ) |
Unlock data,.
Definition at line 116 of file acquisition_thread.cpp.
References _data_mutex, and fawkes::Mutex::unlock().
Referenced by LaserSensorThread::loop().
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Lock while writing to distances or echoes array or marking new data.
Definition at line 74 of file acquisition_thread.h.
Referenced by LaserAcquisitionThread(), lock_if_new_data(), SickTiM55xEthernetAcquisitionThread::loop(), HokuyoUrgAcquisitionThread::loop(), HokuyoUrgGbxAcquisitionThread::loop(), SickTiM55xCommonAcquisitionThread::parse_datagram(), reset_distances(), and unlock().
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Allocate a float array and copy your distance values measured in meters here.
Definition at line 78 of file acquisition_thread.h.
Referenced by alloc_distances(), LaseEdlAcquisitionThread::finalize(), SickTiM55xEthernetAcquisitionThread::finalize(), SickTiM55xUSBAcquisitionThread::finalize(), HokuyoUrgAcquisitionThread::finalize(), HokuyoUrgGbxAcquisitionThread::finalize(), get_distance_data(), LaseEdlAcquisitionThread::init(), LaserAcquisitionThread(), HokuyoUrgAcquisitionThread::loop(), HokuyoUrgGbxAcquisitionThread::loop(), SickTiM55xCommonAcquisitionThread::parse_datagram(), and reset_distances().
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Assign this the size of the _distances array.
Definition at line 81 of file acquisition_thread.h.
Referenced by alloc_distances(), get_distance_data_size(), LaserAcquisitionThread(), SickTiM55xCommonAcquisitionThread::parse_datagram(), LaseEdlAcquisitionThread::pre_init(), SickTiM55xCommonAcquisitionThread::pre_init(), HokuyoUrgAcquisitionThread::pre_init(), HokuyoUrgGbxAcquisitionThread::pre_init(), and reset_distances().
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Allocate a float array and copy your echo values here.
Definition at line 79 of file acquisition_thread.h.
Referenced by alloc_echoes(), LaseEdlAcquisitionThread::finalize(), SickTiM55xEthernetAcquisitionThread::finalize(), SickTiM55xUSBAcquisitionThread::finalize(), get_echo_data(), LaseEdlAcquisitionThread::init(), LaserAcquisitionThread(), SickTiM55xCommonAcquisitionThread::parse_datagram(), and reset_echoes().
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Assign this the size of the _echoes array.
Definition at line 82 of file acquisition_thread.h.
Referenced by alloc_echoes(), get_echo_data_size(), LaserAcquisitionThread(), SickTiM55xCommonAcquisitionThread::parse_datagram(), LaseEdlAcquisitionThread::pre_init(), SickTiM55xCommonAcquisitionThread::pre_init(), and reset_echoes().
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Set to true in your loop if new data is available.
Set to false automatically in get_distance_data() and get_echoes_data().
Definition at line 77 of file acquisition_thread.h.
Referenced by get_distance_data(), get_echo_data(), LaserAcquisitionThread(), lock_if_new_data(), SickTiM55xEthernetAcquisitionThread::loop(), HokuyoUrgAcquisitionThread::loop(), HokuyoUrgGbxAcquisitionThread::loop(), SickTiM55xCommonAcquisitionThread::parse_datagram(), and reset_distances().
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protected |
Time when the most recent data was received.
Definition at line 75 of file acquisition_thread.h.
Referenced by get_timestamp(), LaserAcquisitionThread(), SickTiM55xEthernetAcquisitionThread::loop(), HokuyoUrgAcquisitionThread::loop(), HokuyoUrgGbxAcquisitionThread::loop(), and SickTiM55xCommonAcquisitionThread::parse_datagram().