Fawkes API Fawkes Development Version
vision.cpp
1
2/***************************************************************************
3 * vision.cpp - Vision aspect for Fawkes
4 *
5 * Created: Tue May 29 14:47:43 2007
6 * Copyright 2006-2010 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. A runtime exception applies to
14 * this software (see LICENSE.GPL_WRE file mentioned below for details).
15 *
16 * This program is distributed in the hope that it will be useful,
17 * but WITHOUT ANY WARRANTY; without even the implied warranty of
18 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
19 * GNU Library General Public License for more details.
20 *
21 * Read the full text in the LICENSE.GPL_WRE file in the doc directory.
22 */
23
24#include <aspect/vision.h>
25
26namespace fawkes {
27
28/** @class VisionAspect <aspect/vision.h>
29 * Thread aspect to use in FireVision apps.
30 *
31 * It is guaranteed that if used properly from within plugins that
32 * initVisionAspect() is called before the thread is started and that
33 * you can access the vision master via the vision_master member.
34 *
35 * A vision thread can be called either cyclic, which means that in every
36 * loop the vision master will wait for this vision thread to finish before
37 * the next loop. This also means that the thread has to operate in
38 * wait-for-wakeup mode. The thread is woken up when a new camera image is
39 * available. In general the vision thread should be very fast and under no
40 * conditions it should take longer to process an image than to aquire it.
41 * The thread can also operate in continuous mode, in this case also the
42 * thread has to operate in continuous mode. In this mode the vision
43 * application should keep running and the processing is independent from
44 * the camera speed. Make sure that you use strict logging on the shared
45 * memory camera to ensure healthy pictures.
46 *
47 * @ingroup Aspects
48 * @author Tim Niemueller
49 */
50
51/** Constructor.
52 * @param mode mode to operate in
53 */
55{
56 add_aspect("VisionAspect");
57 vision_thread_mode_ = mode;
58}
59
60/** Virtual empty Destructor. */
62{
63}
64
65/** Set vision master.
66 * @param vision_master vision master
67 * It is guaranteed that this is called for a logging thread before
68 * Thread::start() is called (when running regularly inside Fawkes).
69 * @see VisionMaster
70 */
71void
73{
74 this->vision_master = vision_master;
75}
76
77/** Get the vision thread mode of this thread.
78 * @return vision thread mode
79 */
82{
83 return vision_thread_mode_;
84}
85
86} // end namespace fawkes
void add_aspect(const char *name)
Add an aspect to a thread.
Definition: aspect.cpp:49
VisionThreadMode vision_thread_mode()
Get the vision thread mode of this thread.
Definition: vision.cpp:81
VisionAspect(VisionThreadMode mode)
Constructor.
Definition: vision.cpp:54
firevision::VisionMaster * vision_master
Vision master.
Definition: vision.h:51
void init_VisionAspect(firevision::VisionMaster *vision_master)
Set vision master.
Definition: vision.cpp:72
VisionThreadMode
The operation mode of this vision thread.
Definition: vision.h:38
virtual ~VisionAspect()
Virtual empty Destructor.
Definition: vision.cpp:61
Fawkes library namespace.