00001
00002 /***************************************************************************
00003  *  wm_thread.h - Fawkes TimeTrackerMainLoop Plugin Thread
00004  *
00005  *  Created: Fri Jun 29 11:54:58 2007 (on flight to RoboCup 2007, Atlanta)
00006  *  Copyright  2006-2007  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_TTMAINLOOP_THREAD_H_
00024 #define __PLUGINS_TTMAINLOOP_THREAD_H_
00025 
00026 #include <core/threading/thread.h>
00027 #include <aspect/clock.h>
00028 #include <aspect/logging.h>
00029 #include <aspect/configurable.h>
00030 #include <aspect/blocked_timing.h>
00031 #include <aspect/mainloop.h>
00032
00033 namespace fawkes {
00034   class Time;
00035   class TimeWait;
00036   class TimeTracker;
00037 }
00038
00039 class TimeTrackerMainLoopThread
00040 : public fawkes::Thread,
00041   public fawkes::LoggingAspect,
00042   public fawkes::ClockAspect,
00043   public fawkes::ConfigurableAspect,
00044   public fawkes::MainLoopAspect
00045 {
00046  public:
00047   TimeTrackerMainLoopThread();
00048   virtual ~TimeTrackerMainLoopThread();
00049
00050   virtual void init();
00051   virtual void loop();
00052   virtual void finalize();
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   float             __output_interval;
00059   fawkes::Time     *__last_outp_time;
00060   fawkes::Time     *__now;
00061
00062   fawkes::TimeWait *__time_wait;
00063
00064   std::list<std::string>        __recovered_threads;
00065   unsigned int                  __desired_loop_time_usec;
00066   float                         __desired_loop_time_sec;
00067   unsigned int                  __max_thread_time_usec;
00068   fawkes::Time                 *__loop_start;
00069   fawkes::Time                 *__loop_end;
00070
00071   fawkes::TimeTracker  *__tt;
00072   unsigned int  __tt_loopcount;
00073   unsigned int  __ttc_pre_loop;
00074   unsigned int  __ttc_sensor;
00075   unsigned int  __ttc_worldstate;
00076   unsigned int  __ttc_think;
00077   unsigned int  __ttc_skill;
00078   unsigned int  __ttc_act;
00079   unsigned int  __ttc_post_loop;
00080   unsigned int  __ttc_netproc;
00081   unsigned int  __ttc_full_loop;
00082   unsigned int  __ttc_real_loop;
00083
00084 };
00085
00086
00087 #endif