Fawkes API Fawkes Development Version
gazsim_webcam_thread.h
1/***************************************************************************
2 * gazsim_webcam_plugin.cpp - Plugin simulates Webcams in Gazebo and
3 * provides a shared memory buffer
4 *
5 * Created: Sat Sep 21 17:35:27 2013
6 * Copyright 2013 Frederik Zwilling
7 ****************************************************************************/
8
9/* This program is free software; you can redistribute it and/or modify
10 * it under the terms of the GNU General Public License as published by
11 * the Free Software Foundation; either version 2 of the License, or
12 * (at your option) any later version.
13 *
14 * This program is distributed in the hope that it will be useful,
15 * but WITHOUT ANY WARRANTY; without even the implied warranty of
16 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
17 * GNU Library General Public License for more details.
18 *
19 * Read the full text in the LICENSE.GPL file in the doc directory.
20 */
21
22#ifndef _PLUGINS_GAZSIM_WEBCAM_THREAD_H_
23#define _PLUGINS_GAZSIM_WEBCAM_THREAD_H_
24
25#include <aspect/blackboard.h>
26#include <aspect/blocked_timing.h>
27#include <aspect/clock.h>
28#include <aspect/configurable.h>
29#include <aspect/logging.h>
30#include <core/threading/thread.h>
31#include <fvutils/ipc/shm_image.h>
32#include <plugins/gazebo/aspect/gazebo.h>
33
34#include <boost/circular_buffer.hpp>
35#include <string.h>
36
37//from Gazebo
38#include "gazsim_webcam.h"
39
40#include <gazebo/msgs/MessageTypes.hh>
41#include <gazebo/transport/TransportTypes.hh>
42#include <gazebo/transport/transport.hh>
43
51{
52public:
54
55 virtual void init();
56 virtual void loop();
57 virtual void finalize();
58
59private:
60 std::vector<GazsimWebcam *> webcams_;
61
62 //config values
63 std::vector<std::string> shm_ids_;
64};
65
66#endif
Thread simulates a number of webcams in Gazebo.
virtual void finalize()
Finalize the thread.
virtual void loop()
Code to execute in the thread.
virtual void init()
Initialize the thread.
WebcamSimThread()
Constructor.
Thread aspect to access to BlackBoard.
Definition: blackboard.h:34
Thread aspect to use blocked timing.
Thread aspect that allows to obtain the current time from the clock.
Definition: clock.h:34
Thread aspect to access configuration data.
Definition: configurable.h:33
Thread aspect to get access to a Gazebo node handle.
Definition: gazebo.h:37
Thread aspect to log output.
Definition: logging.h:33
Thread class encapsulation of pthreads.
Definition: thread.h:46