00001 00002 /*************************************************************************** 00003 * sensaqt_thread.h - Katana sensor acquisition thread 00004 * 00005 * Created: Fri Jun 12 15:07:13 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_KATANA_SENSAQT_THREAD_H_ 00024 #define __PLUGINS_KATANA_SENSAQT_THREAD_H_ 00025 00026 #include <core/threading/thread.h> 00027 #include <utils/logging/logger.h> 00028 #include <core/utils/refptr.h> 00029 00030 // Classes from libkni (KNI) 00031 class CLMBase; 00032 class CSctBase; 00033 00034 class KatanaSensorAcquisitionThread : public fawkes::Thread 00035 { 00036 public: 00037 KatanaSensorAcquisitionThread(fawkes::RefPtr<CLMBase> katana, 00038 fawkes::Logger *logger); 00039 00040 void set_enabled(bool enabled); 00041 virtual void loop(); 00042 00043 /** Stub to see name in backtrace for easier debugging. @see Thread::run() */ 00044 protected: virtual void run() { Thread::run(); } 00045 00046 private: 00047 fawkes::RefPtr<CLMBase> __katana; 00048 CSctBase *__sensor_ctrl; 00049 bool __enabled; 00050 00051 fawkes::Logger *__logger; 00052 }; 00053 00054 00055 #endif