Fawkes API
Fawkes Development Version
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23 #ifndef _FIREVISION_APPS_BASE_ACQUISITION_THREAD_H_
24 #define _FIREVISION_APPS_BASE_ACQUISITION_THREAD_H_
26 #include <aspect/blackboard.h>
27 #include <aspect/logging.h>
28 #include <blackboard/interface_listener.h>
29 #include <core/threading/thread.h>
30 #include <fvcams/shmem.h>
31 #include <fvutils/color/colorspaces.h>
40 class SwitchInterface;
41 #ifdef FVBASE_TIMETRACKER
45 namespace firevision {
46 class SharedMemoryImageBuffer;
112 firevision::colorspace_t colorspace_;
114 unsigned int height_;
118 std::map<firevision::colorspace_t, firevision::SharedMemoryImageBuffer *> shm_;
119 std::map<firevision::colorspace_t, firevision::SharedMemoryImageBuffer *>::iterator shmit_;
123 #ifdef FVBASE_TIMETRACKER
125 unsigned int loop_count_;
126 unsigned int ttc_capture_;
127 unsigned int ttc_lock_;
128 unsigned int ttc_convert_;
129 unsigned int ttc_unlock_;
130 unsigned int ttc_dispose_;
void set_enabled(bool enabled)
Enable or disable image retrieval.
AqtMode
Acquisition thread mode.
AqtMode aqtmode()
Get acquisition thread mode.
virtual void run()
Stub to see name in backtrace for easier debugging.
firevision::Camera * camera_instance(firevision::colorspace_t cspace, bool deep_copy)
Get a camera instance.
virtual void finalize()
Finalize the thread.
fawkes::Thread * raw_subscriber_thread
Vision thread registered for raw camera access on this camera.
void set_vt_prepfin_hold(bool hold)
Set prepfin hold status for vision threads.
continuous mode, use if there are only continuous threads for this acquisition thread.
virtual void loop()
Code to execute in the thread.
void set_aqtmode(AqtMode mode)
Set acquisition thread mode.
cyclic mode, use if there is at least one cyclic thread for this acquisition thread.
virtual ~FvAcquisitionThread()
Destructor.
FvAcquisitionThread(const char *id, firevision::Camera *camera, fawkes::Logger *logger, fawkes::Clock *clock)
Constructor.
FvAqtVisionThreads * vision_threads
Vision threads assigned to this acquisition thread.
firevision::Camera * get_camera()
Get the Camera of this acquisition thread.
virtual void init()
Initialize the thread.