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
40namespace fawkes {
41class Barrier;
42}
44
54{
55public:
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) noexcept;
77 virtual bool thread_init_failed(fawkes::Thread *thread) noexcept;
78
79 /** Stub to see name in backtrace for easier debugging. @see Thread::run() */
80protected:
81 virtual void
83 {
84 Thread::run();
85 }
86
87protected:
88 virtual firevision::CameraControl *acquire_camctrl(const char * cam_string,
89 const std::type_info &typeinf);
90
91private:
92 void cond_recreate_barrier(unsigned int num_cyclic_threads);
93 firevision::CameraControl *create_camctrl(const char *camera_string);
94
95private:
98 unsigned int aqt_timeout_;
99
102
103 fawkes::Barrier *aqt_barrier_;
104};
105
106#endif
FireVision base application acquisition thread.
FireVision base thread.
Definition: base_thread.h:54
virtual void release_camctrl(firevision::CameraControl *cc)
Release a camera control.
virtual ~FvBaseThread()
Destructor.
Definition: base_thread.cpp:66
virtual firevision::VisionMaster * vision_master()
Get vision master.
virtual firevision::CameraControl * acquire_camctrl(const char *cam_string)
Retrieve a CameraControl for the specified camera string.
virtual void loop()
Thread loop.
virtual bool thread_init_failed(fawkes::Thread *thread) noexcept
Thread initialization failed.
FvBaseThread()
Constructor.
Definition: base_thread.cpp:55
virtual void unregister_thread(fawkes::Thread *thread)
Unregister a thread.
virtual void finalize()
Finalize the thread.
Definition: base_thread.cpp:81
virtual firevision::Camera * register_for_raw_camera(const char *camera_string, fawkes::Thread *thread)
Register thread for camera.
virtual void run()
Stub to see name in backtrace for easier debugging.
Definition: base_thread.h:82
virtual firevision::Camera * register_for_camera(const char *camera_string, fawkes::Thread *thread, firevision::colorspace_t cspace=firevision::YUV422_PLANAR)
Register thread for camera.
virtual bool thread_started(fawkes::Thread *thread) noexcept
Thread started successfully.
virtual void init()
Initialize the thread.
Definition: base_thread.cpp:72
A barrier is a synchronization tool which blocks until a given number of threads have reached the bar...
Definition: barrier.h:32
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 log output.
Definition: logging.h:33
Thread notification listener interface.
Aspect for thread producing threads.
Thread class encapsulation of pthreads.
Definition: thread.h:46
Vision Master Aspect.
Definition: vision_master.h:36
Camera control interface base class.
Definition: control.h:31
Camera interface for image aquiring devices in FireVision.
Definition: camera.h:33
Fawkes library namespace.