wm_thread.h
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00023 #ifndef __PLUGINS_WORLDMODEL_WM_THREAD_H_
00024 #define __PLUGINS_WORLDMODEL_WM_THREAD_H_
00025
00026 #include <core/threading/thread.h>
00027 #include <core/utils/lock_list.h>
00028 #include <aspect/blocked_timing.h>
00029 #include <aspect/logging.h>
00030 #include <aspect/configurable.h>
00031 #include <aspect/blackboard.h>
00032 #include <aspect/network.h>
00033 #include <aspect/clock.h>
00034
00035 namespace fawkes {
00036 class WorldInfoTransceiver;
00037 class ObjectPositionInterface;
00038 }
00039
00040 class WorldModelNetworkThread;
00041 class WorldModelFuser;
00042
00043 class WorldModelThread
00044 : public fawkes::Thread,
00045 public fawkes::BlockedTimingAspect,
00046 public fawkes::LoggingAspect,
00047 public fawkes::ConfigurableAspect,
00048 public fawkes::BlackBoardAspect,
00049 public fawkes::ClockAspect,
00050 public fawkes::NetworkAspect
00051 {
00052 public:
00053 WorldModelThread(WorldModelNetworkThread *net_thread);
00054 virtual ~WorldModelThread();
00055
00056 virtual void init();
00057 virtual void loop();
00058 virtual void finalize();
00059
00060 void init_failure_cleanup();
00061
00062
00063 protected: virtual void run() { Thread::run(); }
00064
00065 private:
00066 std::string __cfg_confspace;
00067
00068 WorldModelNetworkThread *__net_thread;
00069
00070 std::list<WorldModelFuser *> __fusers;
00071 std::list<WorldModelFuser *>::iterator __fit;
00072
00073 bool __wi_send_enabled;
00074 unsigned int __wi_send_interval;
00075 unsigned int __wi_send_counter;
00076
00077 fawkes::ObjectPositionInterface* __wi_send_ball;
00078 fawkes::ObjectPositionInterface* __wi_send_pose;
00079 };
00080
00081
00082 #endif