00001
00002
00003
00004
00005
00006
00007
00008
00009
00010
00011
00012
00013
00014
00015
00016
00017
00018
00019
00020
00021
00022
00023 #include <plugins/examples/basics/example_plugin.h>
00024 #include <plugins/examples/basics/thread.h>
00025 #include <plugins/examples/basics/net_thread.h>
00026 #include <plugins/examples/basics/finalize_nettler_thread.h>
00027 #include <plugins/examples/basics/blackboard_thread.h>
00028
00029
00030
00031
00032
00033
00034
00035
00036
00037 using namespace fawkes;
00038
00039
00040 #define MODC 100
00041
00042
00043
00044
00045 ExamplePlugin::ExamplePlugin(Configuration *config)
00046 : Plugin(config)
00047 {
00048
00049 thread_list.push_back(new ExampleThread(BlockedTimingAspect::WAKEUP_HOOK_PRE_LOOP,
00050 "PreLoopThread", MODC));
00051 thread_list.push_back(new ExampleThread(BlockedTimingAspect::WAKEUP_HOOK_SENSOR,
00052 "SensorThread", MODC));
00053 thread_list.push_back(new ExampleThread(BlockedTimingAspect::WAKEUP_HOOK_WORLDSTATE,
00054 "WorldStateThread", MODC));
00055 thread_list.push_back(new ExampleThread(BlockedTimingAspect::WAKEUP_HOOK_THINK,
00056 "ThinkThread", MODC));
00057 thread_list.push_back(new ExampleThread(BlockedTimingAspect::WAKEUP_HOOK_SKILL,
00058 "SkillThread", MODC));
00059 thread_list.push_back(new ExampleThread(BlockedTimingAspect::WAKEUP_HOOK_ACT,
00060 "ActThread", MODC));
00061 thread_list.push_back(new ExampleThread(BlockedTimingAspect::WAKEUP_HOOK_POST_LOOP,
00062 "PostLoopThread", MODC));
00063 thread_list.push_back(new ExampleNetworkThread("NetworkThread"));
00064 thread_list.push_back(new ExampleFinalizeNettlerThread("FinalizeNettlerThread"));
00065 thread_list.push_back(new ExampleBlackBoardThread( true));
00066 thread_list.push_back(new ExampleBlackBoardThread( false));
00067 }
00068
00069 PLUGIN_DESCRIPTION("Example plugin demonstrating Fawkes basics")
00070 EXPORT_PLUGIN(ExamplePlugin)