exec_thread.h

00001 
00002 /***************************************************************************
00003  *  exec_thread.h - Fawkes Skiller: Execution Thread
00004  *
00005  *  Created: Mon Feb 18 10:28:38 2008
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_SKILLER_EXEC_THREAD_H_
00024 #define __PLUGINS_SKILLER_EXEC_THREAD_H_
00025 
00026 #include <core/threading/thread.h>
00027 #include <aspect/blocked_timing.h>
00028 #include <aspect/logging.h>
00029 #include <aspect/configurable.h>
00030 #include <aspect/clock.h>
00031 #include <aspect/blackboard.h>
00032 #include <utils/system/fam.h>
00033 #include <blackboard/interface_listener.h>
00034 
00035 #include <string>
00036 #include <cstdlib>
00037 
00038 namespace fawkes {
00039   class ComponentLogger;
00040   class Mutex;
00041   class LuaContext;
00042   class LuaInterfaceImporter;
00043   class Interface;
00044   class SkillerInterface;
00045   class SkillerDebugInterface;
00046 #ifdef SKILLER_TIMETRACKING
00047   class TimeTracker;
00048 #endif
00049 }
00050 
00051 class SkillerExecutionThread
00052 : public fawkes::Thread,
00053   public fawkes::BlockedTimingAspect,
00054   public fawkes::LoggingAspect,
00055   public fawkes::BlackBoardAspect,
00056   public fawkes::ConfigurableAspect,
00057   public fawkes::ClockAspect,
00058   public fawkes::BlackBoardInterfaceListener
00059 {
00060  public:
00061   SkillerExecutionThread();
00062   virtual ~SkillerExecutionThread();
00063 
00064   virtual void init();
00065   virtual void loop();
00066   virtual void finalize();
00067 
00068   /* BlackBoardInterfaceListener */
00069   void bb_interface_reader_removed(fawkes::Interface *interface,
00070                                    unsigned int instance_serial) throw();
00071 
00072  /** Stub to see name in backtrace for easier debugging. @see Thread::run() */
00073  protected: virtual void run() { Thread::run(); }
00074 
00075  private: /* methods */
00076   void init_failure_cleanup();
00077   void publish_skill_status(std::string &curss);
00078   void publish_skdbg();
00079   void publish_error();
00080   void process_skdbg_messages();
00081   void lua_loop_reset();
00082 
00083  private: /* members */
00084   fawkes::ComponentLogger *__clog;
00085 
00086   unsigned int __last_exclusive_controller;
00087   bool         __reader_just_left;
00088 
00089   bool        __continuous_run;
00090   bool        __continuous_reset;
00091   bool        __error_written;
00092   bool        __sksf_pushed;
00093 
00094   std::string __skdbg_what;
00095   std::string __skdbg_graphdir;
00096   bool        __skdbg_graphcolored;
00097 
00098   // config values
00099   std::string __cfg_skillspace;
00100   bool        __cfg_watch_files;
00101 
00102   fawkes::SkillerInterface      *__skiller_if;
00103   fawkes::SkillerDebugInterface *__skdbg_if;
00104 
00105   fawkes::LuaContext  *__lua;
00106   fawkes::LuaInterfaceImporter  *__lua_ifi;
00107 
00108 #ifdef SKILLER_TIMETRACKING
00109   fawkes::TimeTracker *__tt;
00110   unsigned int         __ttc_total;
00111   unsigned int         __ttc_msgproc;
00112   unsigned int         __ttc_luaprep;
00113   unsigned int         __ttc_luaexec;
00114   unsigned int         __ttc_publish;
00115   unsigned int         __tt_loopcount;
00116 #endif
00117 };
00118 
00119 #endif