00001 00002 /*************************************************************************** 00003 * motion_thread.h - Katana one-time thread interface for motions 00004 * 00005 * Created: Wed Jun 10 11:20:18 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_MOTION_THREAD_H_ 00024 #define __PLUGINS_KATANA_MOTION_THREAD_H_ 00025 00026 #include <core/threading/thread.h> 00027 #include <utils/logging/logger.h> 00028 #include <core/utils/refptr.h> 00029 #include <interfaces/KatanaInterface.h> 00030 00031 // Classes from libkni (KNI) 00032 class CLMBase; 00033 00034 class KatanaMotionThread 00035 : public fawkes::Thread 00036 { 00037 public: 00038 KatanaMotionThread(const char *thread_name, 00039 fawkes::RefPtr<CLMBase> katana, fawkes::Logger *logger); 00040 00041 bool finished() const; 00042 virtual void reset(); 00043 unsigned int error_code() const; 00044 00045 protected: 00046 /** Katana object for interaction with the arm */ 00047 fawkes::RefPtr<CLMBase> _katana; 00048 /** Set to true when motion is finished, to false on reset */ 00049 bool _finished; 00050 /** Logger */ 00051 fawkes::Logger *_logger; 00052 /** Set to the desired error code on error */ 00053 unsigned int _error_code; 00054 00055 }; 00056 00057 00058 #endif