Fawkes API
Fawkes Development Version
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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