23 #ifndef _PLUGINS_ROBOTINO_SENSOR_THREAD_H_
24 #define _PLUGINS_ROBOTINO_SENSOR_THREAD_H_
26 #include <aspect/blackboard.h>
27 #include <aspect/blocked_timing.h>
28 #include <aspect/clock.h>
29 #include <aspect/configurable.h>
30 #include <aspect/logging.h>
31 #include <core/threading/thread.h>
40 class BatteryInterface;
41 class RobotinoSensorInterface;
70 void process_sensor_msgs();
71 void update_distances(
float *voltages);
74 static const std::vector<std::pair<double, double>> voltage_to_dist_dps_;
79 bool cfg_enable_gyro_;
80 std::string cfg_imu_iface_id_;
Robotino act hook integration thread.
Virtual base class for thread that communicates with a Robotino.
Robotino sensor hook integration thread.
virtual void finalize()
Finalize the thread.
virtual void init()
Initialize the thread.
virtual void loop()
Code to execute in the thread.
RobotinoSensorThread(RobotinoComThread *com_thread)
Constructor.
virtual void run()
Stub to see name in backtrace for easier debugging.
BatteryInterface Fawkes BlackBoard Interface.
Thread aspect to access to BlackBoard.
Thread aspect to use blocked timing.
Thread aspect that allows to obtain the current time from the clock.
Thread aspect to access configuration data.
IMUInterface Fawkes BlackBoard Interface.
Thread aspect to log output.
RobotinoSensorInterface Fawkes BlackBoard Interface.
Thread class encapsulation of pthreads.
Fawkes library namespace.