sensor_thread.h

00001 
00002 /***************************************************************************
00003  *  sensor_thread.h - Katana plugin sensor thread
00004  *
00005  *  Created: Fri Jun 12 14:56:50 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 #ifndef __PLUGINS_KATANA_SENSOR_THREAD_H_
00024 #define __PLUGINS_KATANA_SENSOR_THREAD_H_
00025 
00026 #include "act_thread.h"
00027 
00028 #include <core/threading/thread.h>
00029 #include <aspect/blocked_timing.h>
00030 #include <aspect/logging.h>
00031 #include <aspect/configurable.h>
00032 #include <core/utils/refptr.h>
00033 
00034 #include <string>
00035 #include <memory>
00036 
00037 namespace fawkes {
00038   class KatanaInterface;
00039 }
00040 
00041 class KatanaSensorThread
00042 : public fawkes::Thread,
00043   public fawkes::BlockedTimingAspect,
00044   public fawkes::LoggingAspect,
00045   public fawkes::ConfigurableAspect
00046 {
00047  public:
00048   KatanaSensorThread(KatanaActThread *act_thread);
00049 
00050   virtual void loop();
00051 
00052  /** Stub to see name in backtrace for easier debugging. @see Thread::run() */
00053  protected: virtual void run() { Thread::run(); }
00054 
00055  private:
00056   KatanaActThread *__act_thread;
00057 };
00058 
00059 
00060 #endif

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