RosIMUThread Class Reference
Thread to publish IMU data to ROS. More...
#include "imu_thread.h"
Inheritance diagram for RosIMUThread:
Public Member Functions | |
| RosIMUThread () | |
| Constructor. More... | |
| virtual | ~RosIMUThread () |
| Destructor. More... | |
| virtual void | init () |
| Initialize the thread. More... | |
| virtual void | finalize () |
| Close all interfaces and ROS handles. More... | |
| virtual void | bb_interface_data_changed (fawkes::Interface *interface) throw () |
| Handle interface changes. More... | |
 Public Member Functions inherited from fawkes::Thread | |
| virtual | ~Thread () |
| Virtual destructor. More... | |
| bool | prepare_finalize () |
| Prepare finalization. More... | |
| virtual bool | prepare_finalize_user () |
| Prepare finalization user implementation. More... | |
| void | cancel_finalize () |
| Cancel finalization. More... | |
| void | start (bool wait=true) |
| Call this method to start the thread. More... | |
| void | cancel () |
| Cancel a thread. More... | |
| void | join () |
| Join the thread. More... | |
| void | detach () |
| Detach the thread. More... | |
| void | kill (int sig) |
| Send signal to a thread. More... | |
| bool | operator== (const Thread &thread) |
| Check if two threads are the same. More... | |
| void | wakeup () |
| Wake up thread. More... | |
| void | wakeup (Barrier *barrier) |
| Wake up thread and wait for barrier afterwards. More... | |
| void | wait_loop_done () |
| Wait for the current loop iteration to finish. More... | |
| OpMode | opmode () const |
| Get operation mode. More... | |
| pthread_t | thread_id () const |
| Get ID of thread. More... | |
| bool | started () const |
| Check if thread has been started. More... | |
| bool | cancelled () const |
| Check if thread has been cancelled. More... | |
| bool | detached () const |
| Check if thread has been detached. More... | |
| bool | running () const |
| Check if the thread is running. More... | |
| bool | waiting () const |
| Check if thread is currently waiting for wakeup. More... | |
| const char * | name () const |
| Get name of thread. More... | |
| void | set_flags (uint32_t flags) |
| Set all flags in one go. More... | |
| void | set_flag (uint32_t flag) |
| Set flag for the thread. More... | |
| void | unset_flag (uint32_t flag) |
| Unset flag. More... | |
| bool | flagged_bad () const |
| Check if FLAG_BAD was set. More... | |
| void | set_delete_on_exit (bool del) |
| Set whether the thread should be deleted on exit. More... | |
| void | set_prepfin_hold (bool hold) |
| Hold prepare_finalize(). More... | |
| void | add_notification_listener (ThreadNotificationListener *notification_listener) |
| Add notification listener. More... | |
| void | remove_notification_listener (ThreadNotificationListener *notification_listener) |
| Remove notification listener. More... | |
| void | notify_of_failed_init () |
| Notify of failed init. More... | |
| void | add_loop_listener (ThreadLoopListener *loop_listener) |
| Add loop listener. More... | |
| void | remove_loop_listener (ThreadLoopListener *loop_listener) |
| Remove loop listener. More... | |
| Public Member Functions inherited from fawkes::ConfigurableAspect | |
| ConfigurableAspect () | |
| Constructor. More... | |
| virtual | ~ConfigurableAspect () |
| Virtual empty Destructor. More... | |
| void | init_ConfigurableAspect (Configuration *config) |
| Set the configuration It is guaranteed that this is called for a configurable thread before Thread::start() is called (when running regularly inside Fawkes). More... | |
| Public Member Functions inherited from fawkes::Aspect | |
| const std::list< const char * > & | get_aspects () const |
| Get list of aspect names attached to a aspected thread. More... | |
| Public Member Functions inherited from fawkes::LoggingAspect | |
| LoggingAspect () | |
| Constructor. More... | |
| virtual | ~LoggingAspect () |
| Virtual empty Destructor. More... | |
| void | init_LoggingAspect (Logger *logger) |
| Set the logger. More... | |
| Public Member Functions inherited from fawkes::ROSAspect | |
| ROSAspect () | |
| Constructor. More... | |
| virtual | ~ROSAspect () |
| Virtual empty destructor. More... | |
| Public Member Functions inherited from fawkes::BlackBoardAspect | |
| BlackBoardAspect (const char *owner=NULL) | |
| Constructor. More... | |
| virtual | ~BlackBoardAspect () |
| Virtual empty destructor. More... | |
| void | init_BlackBoardAspect (BlackBoard *bb) |
| Init BlackBoard aspect. More... | |
| Public Member Functions inherited from fawkes::BlackBoardInterfaceListener | |
| BlackBoardInterfaceListener (const char *name_format,...) | |
| Constructor. More... | |
| virtual | ~BlackBoardInterfaceListener () |
| Destructor. More... | |
| const char * | bbil_name () const |
| Get BBIL name. More... | |
| virtual bool | bb_interface_message_received (Interface *interface, Message *message) throw () |
| BlackBoard message received notification. More... | |
| virtual void | bb_interface_writer_added (Interface *interface, unsigned int instance_serial) throw () |
| A writing instance has been opened for a watched interface. More... | |
| virtual void | bb_interface_writer_removed (Interface *interface, unsigned int instance_serial) throw () |
| A writing instance has been closed for a watched interface. More... | |
| virtual void | bb_interface_reader_added (Interface *interface, unsigned int instance_serial) throw () |
| A reading instance has been opened for a watched interface. More... | |
| virtual void | bb_interface_reader_removed (Interface *interface, unsigned int instance_serial) throw () |
| A reading instance has been closed for a watched interface. More... | |
Additional Inherited Members | |
| Public Types inherited from fawkes::Thread | |
| enum | OpMode { OPMODE_CONTINUOUS , OPMODE_WAITFORWAKEUP } |
| Thread operation mode. More... | |
| enum | CancelState { CANCEL_ENABLED , CANCEL_DISABLED } |
| Cancel state. More... | |
| Public Types inherited from fawkes::BlackBoardInterfaceListener | |
| enum | QueueEntryType { DATA = 0 , MESSAGES = 1 , READER = 2 , WRITER = 3 } |
| Queue entry type. More... | |
| typedef std::list< QueueEntry > | InterfaceQueue |
| Queue of additions/removal of interfaces. More... | |
| typedef std::map< std::string, Interface * > | InterfaceMap |
| Map of currently active event subscriptions. More... | |
| Static Public Member Functions inherited from fawkes::Thread | |
| static Thread * | current_thread () |
| Get the Thread instance of the currently running thread. More... | |
| static Thread * | current_thread_noexc () throw () |
| Similar to current_thread, but does never throw an exception. More... | |
| static pthread_t | current_thread_id () |
| Get the ID of the currently running thread. More... | |
| static std::string | current_thread_name () |
| Get the name of the current thread. More... | |
| static void | current_thread_name (const std::string &thread_name) |
| Set the name of the current thread. More... | |
| static void | init_main () |
| Initialize Thread wrapper instance for main thread. More... | |
| static void | destroy_main () |
| Destroy main thread wrapper instance. More... | |
| static void | set_cancel_state (CancelState new_state, CancelState *old_state=0) |
| Set the cancel state of the current thread. More... | |
| Static Public Attributes inherited from fawkes::Thread | |
| static const unsigned int | FLAG_BAD = 0x00000001 |
| Standard thread flag: "thread is bad". More... | |
| Protected Member Functions inherited from fawkes::Thread | |
| Thread (const char *name) | |
| Constructor. More... | |
| Thread (const char *name, OpMode op_mode) | |
| Constructor. More... | |
| void | exit () |
| Exit the thread. More... | |
| void | test_cancel () |
| Set cancellation point. More... | |
| void | yield () |
| Yield the processor to another thread or process. More... | |
| virtual void | run () |
| Code to execute in the thread. More... | |
| void | set_opmode (OpMode op_mode) |
| Set operation mode. More... | |
| void | set_prepfin_conc_loop (bool concurrent=true) |
| Set concurrent execution of prepare_finalize() and loop(). More... | |
| void | set_coalesce_wakeups (bool coalesce=true) |
| Set wakeup coalescing. More... | |
| void | set_name (const char *format,...) |
| Set name of thread. More... | |
| virtual void | once () |
| Execute an action exactly once. More... | |
| virtual void | loop () |
| Code to execute in the thread. More... | |
| bool | wakeup_pending () |
| Check if wakeups are pending. More... | |
| Protected Member Functions inherited from fawkes::Aspect | |
| void | add_aspect (const char *name) |
| Add an aspect to a thread. More... | |
| Protected Member Functions inherited from fawkes::BlackBoardInterfaceListener | |
| void | bbil_add_data_interface (Interface *interface) |
| Add an interface to the data modification watch list. More... | |
| void | bbil_add_message_interface (Interface *interface) |
| Add an interface to the message received watch list. More... | |
| void | bbil_add_reader_interface (Interface *interface) |
| Add an interface to the reader addition/removal watch list. More... | |
| void | bbil_add_writer_interface (Interface *interface) |
| Add an interface to the writer addition/removal watch list. More... | |
| void | bbil_remove_data_interface (Interface *interface) |
| Remove an interface to the data modification watch list. More... | |
| void | bbil_remove_message_interface (Interface *interface) |
| Remove an interface to the message received watch list. More... | |
| void | bbil_remove_reader_interface (Interface *interface) |
| Remove an interface to the reader addition/removal watch list. More... | |
| void | bbil_remove_writer_interface (Interface *interface) |
| Remove an interface to the writer addition/removal watch list. More... | |
| Interface * | bbil_data_interface (const char *iuid) throw () |
| Get interface instance for given UID. More... | |
| Interface * | bbil_message_interface (const char *iuid) throw () |
| Get interface instance for given UID. More... | |
| Interface * | bbil_reader_interface (const char *iuid) throw () |
| Get interface instance for given UID. More... | |
| Interface * | bbil_writer_interface (const char *iuid) throw () |
| Get interface instance for given UID. More... | |
| Protected Attributes inherited from fawkes::Thread | |
| bool | finalize_prepared |
| True if prepare_finalize() has been called and was not stopped with a cancel_finalize(), false otherwise. More... | |
| Mutex * | loop_mutex |
| Mutex that is used to protect a call to loop(). More... | |
| Mutex * | loopinterrupt_antistarve_mutex |
| Mutex to avoid starvation when trying to lock loop_mutex. More... | |
| Protected Attributes inherited from fawkes::ConfigurableAspect | |
| Configuration * | config |
| This is the Configuration member used to access the configuration. More... | |
| Protected Attributes inherited from fawkes::LoggingAspect | |
| Logger * | logger |
| This is the Logger member used to access the logger. More... | |
| Protected Attributes inherited from fawkes::ROSAspect | |
| LockPtr< ros::NodeHandle > | rosnode |
| Central ROS node handle. More... | |
| Protected Attributes inherited from fawkes::BlackBoardAspect | |
| BlackBoard * | blackboard |
| This is the BlackBoard instance you can use to interact with the BlackBoard. More... | |
Detailed Description
Thread to publish IMU data to ROS.
This thread reads data from the IMU blackboard interface and publishes the data to ROS.
Definition at line 33 of file imu_thread.h.
Constructor & Destructor Documentation
◆ RosIMUThread()
| RosIMUThread::RosIMUThread | ( | ) |
Constructor.
Definition at line 37 of file imu_thread.cpp.
◆ ~RosIMUThread()
|
virtual |
Destructor.
Definition at line 43 of file imu_thread.cpp.
Member Function Documentation
◆ bb_interface_data_changed()
|
virtual | ||||||||||||||
Handle interface changes.
If the IMU interface changes, publish updated data to ROS.
- Parameters
-
interface interface instance that you supplied to bbil_add_data_interface()
Reimplemented from fawkes::BlackBoardInterfaceListener.
Definition at line 101 of file imu_thread.cpp.
References fawkes::IMUInterface::angular_velocity(), fawkes::IMUInterface::angular_velocity_covariance(), fawkes::IMUInterface::frame(), fawkes::IMUInterface::linear_acceleration(), fawkes::IMUInterface::linear_acceleration_covariance(), fawkes::IMUInterface::orientation(), fawkes::IMUInterface::orientation_covariance(), and fawkes::Interface::read().
◆ finalize()
|
virtual |
Close all interfaces and ROS handles.
Reimplemented from fawkes::Thread.
Definition at line 89 of file imu_thread.cpp.
References fawkes::BlackBoardAspect::blackboard, fawkes::BlackBoard::close(), and fawkes::BlackBoard::unregister_listener().
◆ init()
|
virtual |
Initialize the thread.
Open the blackboard interface and advertise the ROS topic. Register as listener for the blackboard interface.
Reimplemented from fawkes::Thread.
Definition at line 52 of file imu_thread.cpp.
References fawkes::BlackBoardInterfaceListener::bbil_add_data_interface(), fawkes::BlackBoardAspect::blackboard, fawkes::ConfigurableAspect::config, fawkes::Configuration::get_string(), fawkes::BlackBoard::list(), fawkes::Logger::log_error(), fawkes::Logger::log_info(), fawkes::LoggingAspect::logger, fawkes::Thread::name(), fawkes::BlackBoard::open_for_reading(), fawkes::BlackBoard::register_listener(), fawkes::ROSAspect::rosnode, and fawkes::Exception::what_no_backtrace().
The documentation for this class was generated from the following files:
- src/plugins/ros/imu_thread.h
- src/plugins/ros/imu_thread.cpp
