Fawkes API  Fawkes Development Version
gripper_thread.h
1 
2 /***************************************************************************
3  * gripper_thread.h - Katana gripper one-time thread
4  *
5  * Created: Thu Jun 11 11:56:46 2009
6  * Copyright 2006-2009 Tim Niemueller [www.niemueller.de]
7  *
8  ****************************************************************************/
9 
10 /* This program is free software; you can redistribute it and/or modify
11  * it under the terms of the GNU General Public License as published by
12  * the Free Software Foundation; either version 2 of the License, or
13  * (at your option) any later version.
14  *
15  * This program is distributed in the hope that it will be useful,
16  * but WITHOUT ANY WARRANTY; without even the implied warranty of
17  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
18  * GNU Library General Public License for more details.
19  *
20  * Read the full text in the LICENSE.GPL file in the doc directory.
21  */
22 
23 #ifndef _PLUGINS_KATANA_GRIPPER_THREAD_H_
24 #define _PLUGINS_KATANA_GRIPPER_THREAD_H_
25 
26 #include "motion_thread.h"
27 
29 {
30 public:
32  fawkes::Logger * logger,
33  unsigned int poll_interval_ms);
34 
35  /** Gripper execution mode. */
36  typedef enum {
37  OPEN_GRIPPER, /**< Open gripper */
38  CLOSE_GRIPPER /**< Close gripper */
40 
41  void set_mode(gripper_mode_t mode);
42  virtual void once();
43 
44  /** Stub to see name in backtrace for easier debugging. @see Thread::run() */
45 protected:
46  virtual void
47  run()
48  {
49  Thread::run();
50  }
51 
52 private:
54  unsigned int poll_interval_usec_;
55 };
56 
57 #endif
KatanaGripperThread
Definition: gripper_thread.h:28
KatanaMotionThread
Definition: motion_thread.h:35
KatanaGripperThread::CLOSE_GRIPPER
@ CLOSE_GRIPPER
Close gripper.
Definition: gripper_thread.h:44
fawkes::RefPtr< fawkes::KatanaController >
KatanaGripperThread::KatanaGripperThread
KatanaGripperThread(fawkes::RefPtr< fawkes::KatanaController > katana, fawkes::Logger *logger, unsigned int poll_interval_ms)
Constructor.
Definition: gripper_thread.cpp:45
fawkes::Logger
Definition: logger.h:41
KatanaGripperThread::OPEN_GRIPPER
@ OPEN_GRIPPER
Open gripper.
Definition: gripper_thread.h:43
KatanaGripperThread::once
virtual void once()
Execute an action exactly once.
Definition: gripper_thread.cpp:64
KatanaGripperThread::set_mode
void set_mode(gripper_mode_t mode)
Set mode.
Definition: gripper_thread.cpp:58
KatanaGripperThread::gripper_mode_t
gripper_mode_t
Gripper execution mode.
Definition: gripper_thread.h:42
KatanaGripperThread::run
virtual void run()
Stub to see name in backtrace for easier debugging.
Definition: gripper_thread.h:53