sensor_thread.h

00001 
00002 /***************************************************************************
00003  *  sensor_thread.h - Pan/tilt plugin sensor thread
00004  *
00005  *  Created: Thu Jun 18 18:58:05 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_PANTILT_SENSOR_THREAD_H_
00024 #define __PLUGINS_PANTILT_SENSOR_THREAD_H_
00025 
00026 #include "sensor_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 
00033 #include <list>
00034 
00035 class PanTiltActThread;
00036 
00037 class PanTiltSensorThread
00038 : public fawkes::Thread,
00039   public fawkes::BlockedTimingAspect,
00040   public fawkes::LoggingAspect,
00041   public fawkes::ConfigurableAspect
00042 {
00043  public:
00044   PanTiltSensorThread();
00045 
00046   void add_act_thread(PanTiltActThread *act_thread);
00047   virtual void loop();
00048 
00049  /** Stub to see name in backtrace for easier debugging. @see Thread::run() */
00050  protected: virtual void run() { Thread::run(); }
00051 
00052  private:
00053   std::list<PanTiltActThread *>           __act_threads;
00054   std::list<PanTiltActThread *>::iterator __ati;
00055 };
00056 
00057 
00058 #endif

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