HokuyoUrgGbxAcquisitionThread Class Reference

Laser acqusition thread for Hokuyo URG laser range finders. More...

#include <urg_gbx_aqt.h>

Inheritance diagram for HokuyoUrgGbxAcquisitionThread:

[legend]
List of all members.

Public Member Functions

 HokuyoUrgGbxAcquisitionThread (std::string &cfg_name, std::string &cfg_prefix)
 Constructor.
virtual void pre_init (fawkes::Configuration *config, fawkes::Logger *logger)
 Pre initialization.
virtual void init ()
 Initialize the thread.
virtual void finalize ()
 Finalize the thread.
virtual void loop ()
 Code to execute in the thread.

Detailed Description

Laser acqusition thread for Hokuyo URG laser range finders.

This thread fetches the data from the laser. This implementation uses the Gearbox library.

Author:
Tim Niemueller

Definition at line 36 of file urg_gbx_aqt.h.


Constructor & Destructor Documentation

HokuyoUrgGbxAcquisitionThread::HokuyoUrgGbxAcquisitionThread ( std::string &  cfg_name,
std::string &  cfg_prefix 
)

Constructor.

Parameters:
cfg_name short name of configuration group
cfg_prefix configuration path prefix

Definition at line 52 of file urg_gbx_aqt.cpp.

References fawkes::Thread::set_name().


Member Function Documentation

void HokuyoUrgGbxAcquisitionThread::finalize (  )  [virtual]

Finalize the thread.

This method is executed just before the thread is canceled and destroyed. It is always preceeded by a call to prepare_finalize(). If this is not the case this is a failure. The condition can be checked with the boolean variable finalize_prepared.

This method is meant to be used in conjunction with aspects and to cover thread inter-dependencies. This routine MUST bring the thread into a safe state such that it may be canceled and destroyed afterwards. If there is any reason that this cannot happen make your prepare_finalize() reports so.

This method is called by the thread manager just before the thread is being cancelled. Here you can do whatever steps are necessary just before the thread is cancelled. Note that you thread is still running and might be in the middle of a loop, so it is not a good place to give up on all resources used. Mind segmentation faults that could happen. Protect the area with a mutex that you lock at the beginning of your loop and free in the end, and that you lock at the beginning of finalize and then never unlock. Also not that the finalization may be canceled afterwards. The next thing that happens is that either the thread is canceled and destroyed or that the finalization is canceled and the thread has to run again.

Finalize is called on a thread just before it is deleted. It is guaranteed to be called on a fully initialized thread (if no exception is thrown in init()) (this guarantee holds in the Fawkes framework).

The default implementation does nothing besides throwing an exception if prepare_finalize() has not been called.

Exceptions:
Exception thrown if prepare_finalize() has not been called.
See also:
prepare_finalize()

cancel_finalize()

Reimplemented from fawkes::Thread.

Definition at line 126 of file urg_gbx_aqt.cpp.

References LaserAcquisitionThread::_distances, fawkes::Logger::log_debug(), fawkes::LoggingAspect::logger, and fawkes::Thread::name().

void HokuyoUrgGbxAcquisitionThread::init (  )  [virtual]

Initialize the thread.

This method is meant to be used in conjunction with aspects. Some parts of the initialization may only happen after some aspect of the thread has been initialized. Implement the init method with these actions. It is guaranteed to be called just after all aspects have been initialized and only once in the lifetime of the thread. Throw an exception if any problem occurs and the thread should not run.

Just because your init() routine suceeds and everything looks fine for this thread does not automatically imply that it will run. If it belongs to a group of threads in a ThreadList and any of the other threads fail to initialize then no thread from this group is run and thus this thread will never run. In that situation finalize() is called for this very instance, prepare_finalize() however is not called.

See also:
Fawkes Thread Aspects

Reimplemented from fawkes::Thread.

Definition at line 75 of file urg_gbx_aqt.cpp.

References LaserAcquisitionThread::alloc_distances(), fawkes::ConfigurableAspect::config, fawkes::Configuration::get_string(), fawkes::Logger::log_info(), fawkes::LoggingAspect::logger, fawkes::Thread::name(), and pre_init().

void HokuyoUrgGbxAcquisitionThread::loop (  )  [virtual]

Code to execute in the thread.

Implement this method to hold the code you want to be executed continously. If you do not implement this method, the default is that the thread will exit. This is useful if you choose to only implement once().

Reimplemented from fawkes::Thread.

Definition at line 139 of file urg_gbx_aqt.cpp.

References LaserAcquisitionThread::_data_mutex, LaserAcquisitionThread::_distances, LaserAcquisitionThread::_new_data, fawkes::Mutex::lock(), fawkes::Logger::log_warn(), fawkes::LoggingAspect::logger, fawkes::Thread::name(), and fawkes::Mutex::unlock().

void HokuyoUrgGbxAcquisitionThread::pre_init ( fawkes::Configuration config,
fawkes::Logger logger 
) [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.

Parameters:
config configuration
logger logger instance

Implements LaserAcquisitionThread.

Definition at line 64 of file urg_gbx_aqt.cpp.

References LaserAcquisitionThread::_distances_size.

Referenced by init().


The documentation for this class was generated from the following files:
Generated on Tue Feb 22 13:31:32 2011 for Fawkes API by  doxygen 1.4.7