00001
00002 /***************************************************************************
00003  *  sensor_thread.h - Laser thread that puses data into the interface
00004  *
00005  *  Created: Wed Oct 08 13:32:34 2008
00006  *  Copyright  2006-2008  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_LASER_SENSOR_THREAD_H_
00024 #define __PLUGINS_LASER_SENSOR_THREAD_H_
00025 
00026 #include <core/threading/thread.h>
00027 #include <aspect/blocked_timing.h>
00028 #include <aspect/logging.h>
00029 #include <aspect/configurable.h>
00030 #include <aspect/blackboard.h>
00031
00032 namespace fawkes {
00033   class Laser360Interface;
00034   class Laser720Interface;
00035 }
00036
00037 class LaserAcquisitionThread;
00038 class LaserDataFilterCascade;
00039
00040 class LaserSensorThread
00041 : public fawkes::Thread,
00042   public fawkes::BlockedTimingAspect,
00043   public fawkes::LoggingAspect,
00044   public fawkes::ConfigurableAspect,
00045   public fawkes::BlackBoardAspect
00046 {
00047  public:
00048   LaserSensorThread(LaserAcquisitionThread *aqt);
00049
00050   virtual void init();
00051   virtual void finalize();
00052   virtual void loop();
00053 
00054  /** Stub to see name in backtrace for easier debugging. @see Thread::run() */
00055  protected: virtual void run() { Thread::run(); }
00056
00057  private:
00058   fawkes::Laser360Interface *__laser360_if;
00059   fawkes::Laser720Interface *__laser720_if;
00060
00061   LaserAcquisitionThread *__aqt;
00062
00063   LaserDataFilterCascade *__filters720;
00064   LaserDataFilterCascade *__filters360;
00065
00066   unsigned int            __num_values;
00067 };
00068
00069
00070 #endif