Joystick acqusition thread for Linux joystick API. More...
#include "acquisition_thread.h"
Public Member Functions | |
JoystickAcquisitionThread () | |
Constructor. | |
JoystickAcquisitionThread (const char *device_file, JoystickBlackBoardHandler *handler, fawkes::Logger *logger) | |
Alternative constructor. | |
virtual void | init () |
Initialize the thread. | |
virtual void | finalize () |
Finalize the thread. | |
virtual void | loop () |
Code to execute in the thread. | |
bool | lock_if_new_data () |
Lock data if fresh. | |
void | unlock () |
Unlock data. | |
char | num_axes () const |
Get number of axes. | |
char | num_buttons () const |
Get number of buttons. | |
const char * | joystick_name () const |
Get joystick name. | |
unsigned int | pressed_buttons () const |
Pressed buttons. | |
float * | axis_x_values () |
Get values for X axes. | |
float * | axis_y_values () |
Get values for Y axes. | |
Protected Member Functions | |
virtual void | run () |
Stub to see name in backtrace for easier debugging. |
Joystick acqusition thread for Linux joystick API.
Definition at line 49 of file acquisition_thread.h.
JoystickAcquisitionThread::JoystickAcquisitionThread | ( | ) |
Constructor.
Definition at line 74 of file acquisition_thread.cpp.
References fawkes::Thread::set_prepfin_conc_loop().
JoystickAcquisitionThread::JoystickAcquisitionThread | ( | const char * | device_file, | |
JoystickBlackBoardHandler * | handler, | |||
fawkes::Logger * | logger | |||
) |
Alternative constructor.
This constructor is meant to be used to create an instance that is used outside of Fawkes.
device_file | joystick device file | |
handler | BlackBoard handler that will post data to the BlackBoard | |
logger | logging instance |
Definition at line 91 of file acquisition_thread.cpp.
References init().
float * JoystickAcquisitionThread::axis_x_values | ( | ) |
Get values for X axes.
Definition at line 326 of file acquisition_thread.cpp.
Referenced by JoystickSensorThread::loop().
float * JoystickAcquisitionThread::axis_y_values | ( | ) |
Get values for Y axes.
Definition at line 336 of file acquisition_thread.cpp.
Referenced by JoystickSensorThread::loop().
void JoystickAcquisitionThread::finalize | ( | ) | [virtual] |
Finalize the thread.
This method is executed just before the thread is canceled and destroyed. It is always preceeded by a call to prepare_finalize(). If this is not the case this is a failure. The condition can be checked with the boolean variable finalize_prepared.
This method is meant to be used in conjunction with aspects and to cover thread inter-dependencies. This routine MUST bring the thread into a safe state such that it may be canceled and destroyed afterwards. If there is any reason that this cannot happen make your prepare_finalize() reports so.
This method is called by the thread manager just before the thread is being cancelled. Here you can do whatever steps are necessary just before the thread is cancelled. Note that you thread is still running and might be in the middle of a loop, so it is not a good place to give up on all resources used. Mind segmentation faults that could happen. Protect the area with a mutex that you lock at the beginning of your loop and free in the end, and that you lock at the beginning of finalize and then never unlock. Also not that the finalization may be canceled afterwards. The next thing that happens is that either the thread is canceled and destroyed or that the finalization is canceled and the thread has to run again.
Finalize is called on a thread just before it is deleted. It is guaranteed to be called on a fully initialized thread (if no exception is thrown in init()) (this guarantee holds in the Fawkes framework).
The default implementation does nothing besides throwing an exception if prepare_finalize() has not been called.
Exception | thrown if prepare_finalize() has not been called. |
Reimplemented from fawkes::Thread.
Definition at line 180 of file acquisition_thread.cpp.
void JoystickAcquisitionThread::init | ( | ) | [virtual] |
Initialize the thread.
This method is meant to be used in conjunction with aspects. Some parts of the initialization may only happen after some aspect of the thread has been initialized. Implement the init method with these actions. It is guaranteed to be called just after all aspects have been initialized and only once in the lifetime of the thread. Throw an exception if any problem occurs and the thread should not run.
Just because your init() routine suceeds and everything looks fine for this thread does not automatically imply that it will run. If it belongs to a group of threads in a ThreadList and any of the other threads fail to initialize then no thread from this group is run and thus this thread will never run. In that situation finalize() is called for this very instance, prepare_finalize() however is not called.
Reimplemented from fawkes::Thread.
Definition at line 106 of file acquisition_thread.cpp.
References fawkes::Exception::append(), fawkes::ConfigurableAspect::config, fawkes::Configuration::get_string(), and fawkes::Thread::name().
Referenced by JoystickAcquisitionThread().
const char * JoystickAcquisitionThread::joystick_name | ( | ) | const |
bool JoystickAcquisitionThread::lock_if_new_data | ( | ) |
Lock data if fresh.
If new data has been received since get_distance_data() or get_echo_data() was called last the data is locked, no new data can arrive until you call unlock(), otherwise the lock is immediately released after checking.
Definition at line 261 of file acquisition_thread.cpp.
References fawkes::Mutex::lock(), and fawkes::Mutex::unlock().
Referenced by JoystickSensorThread::loop().
void JoystickAcquisitionThread::loop | ( | ) | [virtual] |
Code to execute in the thread.
Implement this method to hold the code you want to be executed continously. If you do not implement this method, the default is that the thread will exit. This is useful if you choose to only implement once().
Reimplemented from fawkes::Thread.
Definition at line 190 of file acquisition_thread.cpp.
References JoystickBlackBoardHandler::joystick_changed(), JoystickBlackBoardHandler::joystick_unplugged(), fawkes::Mutex::lock(), fawkes::Logger::log_warn(), fawkes::LoggingAspect::logger, fawkes::Thread::name(), and fawkes::Mutex::unlock().
char JoystickAcquisitionThread::num_axes | ( | ) | const |
Get number of axes.
Definition at line 286 of file acquisition_thread.cpp.
Referenced by JoystickSensorThread::loop().
char JoystickAcquisitionThread::num_buttons | ( | ) | const |
Get number of buttons.
Definition at line 296 of file acquisition_thread.cpp.
Referenced by JoystickSensorThread::loop().
unsigned int JoystickAcquisitionThread::pressed_buttons | ( | ) | const |
Pressed buttons.
Definition at line 316 of file acquisition_thread.cpp.
Referenced by JoystickSensorThread::loop().
virtual void JoystickAcquisitionThread::run | ( | ) | [inline, protected, virtual] |
Stub to see name in backtrace for easier debugging.
Reimplemented from fawkes::Thread.
Definition at line 75 of file acquisition_thread.h.
void JoystickAcquisitionThread::unlock | ( | ) |
Unlock data.
Definition at line 275 of file acquisition_thread.cpp.
References fawkes::Mutex::unlock().
Referenced by JoystickSensorThread::loop().