megapacket_thread.h

// Thread for handling megapacket data
// Author: Grzegorz Ficht <ficht@ais.uni-bonn.de>

#ifndef MEGAPACKET_THREAD_H
#define MEGAPACKET_THREAD_H

#include <pthread.h>
#include <stdint.h>

namespace mp
{

class MegapacketThread
{
public:
    MegapacketThread();
    ~MegapacketThread();

    void run();

    static void* start(void* ptr);

    boost::shared_ptr<CM740mp> transfer;
    std::vector<MPData>*       servoData;
    MPBoard*                   boardData;
private:
    pthread_mutex_t m_mutex;
    pthread_cond_t m_cond;
};

}





#endif