LaserAcquisitionThread Class Reference

Laser acqusition thread. More...

#include <acquisition_thread.h>

Inheritance diagram for LaserAcquisitionThread:


Public Member Functions
	LaserAcquisitionThread (const char *thread_name)
	Constructor.
bool	lock_if_new_data ()
	Lock data if fresh.
void	unlock ()
	Unlock data,.
virtual void	pre_init (fawkes::Configuration config, fawkes::Logger logger)=0
	Pre initialization.
const float *	get_distance_data ()
	Get distance data.
const float *	get_echo_data ()
	Get echo data.
unsigned int	get_distance_data_size ()
	Get distance data size.
unsigned int	get_echo_data_size ()
	Get echo data size.
Protected Member Functions
virtual void	run ()
	Stub to see name in backtrace for easier debugging.
Protected Attributes
fawkes::Mutex *	_data_mutex
	Lock while writing to distances or echoes array or marking new data.
bool	_new_data
	Set to true in your loop if new data is available.
float *	_distances
	Allocate a float array and copy your distance values measured in meters here.
float *	_echoes
	Allocate a float array and copy your echo values here.
unsigned int	_distances_size
	Assign this the size of the _distances array.
unsigned int	_echoes_size
	Assign this the size of the _echoes array.

Detailed Description

Laser acqusition thread.

Interface for different laser types.

Author:: Tim Niemueller

Definition at line 37 of file acquisition_thread.h.

Constructor & Destructor Documentation

LaserAcquisitionThread::LaserAcquisitionThread ( const char * thread_name )

Constructor.

Parameters:

thread_name

name of the thread, be descriptive

Definition at line 72 of file acquisition_thread.cpp.

References _data_mutex, _distances, _distances_size, _echoes, _echoes_size, and _new_data.

Member Function Documentation

const float * LaserAcquisitionThread::get_distance_data ( )

Get distance data.

Returns:: Float array with distance values

Definition at line 120 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.

Returns:: size of data float array

Definition at line 142 of file acquisition_thread.cpp.

References _distances_size.

Referenced by LaserSensorThread::init(), and LaserSensorThread::loop().

const float * LaserAcquisitionThread::get_echo_data ( )

Get echo data.

Returns:: Float array with echo values

Definition at line 131 of file acquisition_thread.cpp.

References _echoes, and _new_data.

unsigned int LaserAcquisitionThread::get_echo_data_size ( )

Get echo data size.

Returns:: size of data float array

Definition at line 152 of file acquisition_thread.cpp.

References _echoes_size.

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.

Returns:: true if the lock was acquired and there is new data, false otherwise

Definition at line 96 of file acquisition_thread.cpp.

References _data_mutex, _new_data, fawkes::Mutex::lock(), and fawkes::Mutex::unlock().

Referenced by LaserSensorThread::loop().

void LaserAcquisitionThread::pre_init	(	fawkes::Configuration *	config,
		fawkes::Logger *	logger
	)			`[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.

Parameters: