Fawkes API  Fawkes Development Version
base_thread.h
1 
2 /***************************************************************************
3  * base_thread.h - FireVision Base Thread
4  *
5  * Created: Tue May 29 16:40:10 2007
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 _FIREVISION_APPS_BASE_BASE_THREAD_H_
24 #define _FIREVISION_APPS_BASE_BASE_THREAD_H_
25 
26 #include <aspect/blocked_timing.h>
27 #include <aspect/clock.h>
28 #include <aspect/configurable.h>
29 #include <aspect/logging.h>
30 #include <aspect/thread_producer.h>
31 #include <aspect/vision_master.h>
32 #include <core/threading/thread.h>
33 #include <core/threading/thread_notification_listener.h>
34 #include <core/utils/lock_list.h>
35 #include <core/utils/lock_map.h>
36 #include <fvutils/base/vision_master.h>
37 
38 #include <string>
39 
40 namespace fawkes {
41 class Barrier;
42 }
44 
45 class FvBaseThread : public fawkes::Thread,
47  public fawkes::LoggingAspect,
49  public fawkes::ClockAspect,
54 {
55 public:
56  FvBaseThread();
57  virtual ~FvBaseThread();
58 
59  virtual void init();
60  virtual void loop();
61  virtual void finalize();
62 
64 
65  virtual firevision::Camera *
66  register_for_camera(const char * camera_string,
67  fawkes::Thread * thread,
68  firevision::colorspace_t cspace = firevision::YUV422_PLANAR);
69  virtual firevision::Camera *register_for_raw_camera(const char * camera_string,
70  fawkes::Thread *thread);
71  virtual void unregister_thread(fawkes::Thread *thread);
72 
73  virtual firevision::CameraControl *acquire_camctrl(const char *cam_string);
75 
76  virtual bool thread_started(fawkes::Thread *thread) throw();
77  virtual bool thread_init_failed(fawkes::Thread *thread) throw();
78 
79  /** Stub to see name in backtrace for easier debugging. @see Thread::run() */
80 protected:
81  virtual void
82  run()
83  {
84  Thread::run();
85  }
86 
87 protected:
88  virtual firevision::CameraControl *acquire_camctrl(const char * cam_string,
89  const std::type_info &typeinf);
90 
91 private:
92  void cond_recreate_barrier(unsigned int num_cyclic_threads);
93  firevision::CameraControl *create_camctrl(const char *camera_string);
94 
95 private:
98  unsigned int aqt_timeout_;
99 
102 
103  fawkes::Barrier *aqt_barrier_;
104 };
105 
106 #endif
FvBaseThread::release_camctrl
virtual void release_camctrl(firevision::CameraControl *cc)
Definition: base_thread.cpp:363
fawkes::LockMap< std::string, FvAcquisitionThread * >
firevision::CameraControl
Definition: control.h:35
FvBaseThread::register_for_raw_camera
virtual firevision::Camera * register_for_raw_camera(const char *camera_string, fawkes::Thread *thread)
Definition: base_thread.cpp:298
fawkes::VisionMasterAspect
Definition: vision_master.h:34
FvBaseThread::loop
virtual void loop()
Thread loop.
Definition: base_thread.cpp:101
FvAcquisitionThread
Definition: acquisition_thread.h:50
fawkes::LockList< firevision::CameraControl * >
fawkes::ThreadProducerAspect
Definition: thread_producer.h:36
fawkes::BlockedTimingAspect
Definition: blocked_timing.h:54
FvBaseThread::thread_init_failed
virtual bool thread_init_failed(fawkes::Thread *thread)
Definition: base_thread.cpp:450
FvBaseThread::run
virtual void run()
Stub to see name in backtrace for easier debugging.
Definition: base_thread.h:81
FvBaseThread::FvBaseThread
FvBaseThread()
Constructor.
Definition: base_thread.cpp:55
fawkes::ThreadNotificationListener
Definition: thread_notification_listener.h:35
FvBaseThread
Definition: base_thread.h:44
fawkes
fawkes::LoggingAspect
Definition: logging.h:36
FvBaseThread::thread_started
virtual bool thread_started(fawkes::Thread *thread)
Definition: base_thread.cpp:434
FvBaseThread::acquire_camctrl
virtual firevision::CameraControl * acquire_camctrl(const char *cam_string)
Definition: base_thread.cpp:333
FvBaseThread::init
virtual void init()
Initialize the thread.
Definition: base_thread.cpp:72
FvBaseThread::register_for_camera
virtual firevision::Camera * register_for_camera(const char *camera_string, fawkes::Thread *thread, firevision::colorspace_t cspace=firevision::YUV422_PLANAR)
Definition: base_thread.cpp:224
FvBaseThread::unregister_thread
virtual void unregister_thread(fawkes::Thread *thread)
Definition: base_thread.cpp:389
fawkes::Thread
Definition: thread.h:44
FvBaseThread::finalize
virtual void finalize()
Finalize the thread.
Definition: base_thread.cpp:81
fawkes::ConfigurableAspect
Definition: configurable.h:36
firevision::Camera
Definition: camera.h:36
FvBaseThread::~FvBaseThread
virtual ~FvBaseThread()
Destructor.
Definition: base_thread.cpp:66
fawkes::Barrier
Definition: barrier.h:35
firevision::VisionMaster
Definition: vision_master.h:42
FvBaseThread::vision_master
virtual firevision::VisionMaster * vision_master()
Get vision master.
Definition: base_thread.cpp:218
fawkes::ClockAspect
Definition: clock.h:38