thread.h

00001 
00002 /***************************************************************************
00003  *  thread.h - Fawkes ball position logger thread - for demonstration
00004  *
00005  *  Created: Thu Jan 24 17:01:54 2008
00006  *  Copyright  2008  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_BALLPOSLOG_THREAD_H_
00024 #define __PLUGINS_BALLPOSLOG_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/blackboard.h>
00031 
00032 namespace fawkes {
00033   class ObjectPositionInterface;
00034 }
00035 
00036 class BallPosLogThread
00037   : public fawkes::Thread,
00038     public fawkes::BlockedTimingAspect,
00039     public fawkes::LoggingAspect,
00040     public fawkes::ConfigurableAspect,
00041     public fawkes::BlackBoardAspect
00042 {
00043  public:
00044   BallPosLogThread();
00045   virtual ~BallPosLogThread();
00046 
00047   virtual void init();
00048   virtual void loop();
00049   virtual void finalize();
00050 
00051  /** Stub to see name in backtrace for easier debugging. @see Thread::run() */
00052  protected: virtual void run() { Thread::run(); }
00053 
00054  private:
00055   fawkes::ObjectPositionInterface *wm_ball_interface;
00056   fawkes::Logger::LogLevel         log_level;
00057 };
00058 
00059 #endif