Fawkes API  Fawkes Development Version
context_thread.h
1 
2 /***************************************************************************
3  * context_thread.h - OpenNI context providing thread
4  *
5  * Created: Sat Feb 26 15:23:16 2011
6  * Copyright 2006-2011 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 _PLUGINS_OPENNI_CONTEXT_THREAD_H_
24 #define _PLUGINS_OPENNI_CONTEXT_THREAD_H_
25 
26 #include <aspect/aspect_provider.h>
27 #include <aspect/blocked_timing.h>
28 #include <aspect/clock.h>
29 #include <aspect/configurable.h>
30 #include <aspect/logging.h>
31 #include <core/threading/thread.h>
32 #include <core/utils/lockptr.h>
33 #include <plugins/openni/aspect/openni_inifin.h>
34 #include <sys/types.h>
35 #include <utils/time/time.h>
36 
37 #include <map>
38 #include <string>
39 
40 namespace xn {
41 class Context;
42 class Device;
43 } // namespace xn
44 
47  public fawkes::LoggingAspect,
49  public fawkes::ClockAspect,
51 {
52 public:
54  virtual ~OpenNiContextThread();
55 
56  virtual void init();
57  virtual void loop();
58  virtual void finalize();
59 
60 private:
61  void print_nodes();
62  void verify_active();
63  void start_sensor_server();
64  void stop_sensor_server();
65 
66  /** Stub to see name in backtrace for easier debugging. @see Thread::run() */
67 protected:
68  virtual void
69  run()
70  {
71  Thread::run();
72  }
73 
74 private:
76  fawkes::OpenNiAspectIniFin openni_aspect_inifin_;
77 
78  bool cfg_run_sensor_server_;
79  std::string cfg_sensor_bin_;
80  pid_t sensor_server_pid_;
81  xn::Device *device_;
82 
83  int last_refcount_;
84 
85  fawkes::Time check_last_;
86  fawkes::Time check_now_;
87 
88  unsigned int device_no_data_loops_;
89 
90  std::map<std::string, unsigned int> dead_loops_;
91 };
92 
93 #endif
Thread aspect that allows to obtain the current time from the clock.
Definition: clock.h:33
A class for handling time.
Definition: time.h:92
Thread class encapsulation of pthreads.
Definition: thread.h:45
virtual void finalize()
Finalize the thread.
Thread aspect to use blocked timing.
virtual void run()
Stub to see name in backtrace for easier debugging.
Thread aspect to log output.
Definition: logging.h:32
Thread aspect provide a new aspect.
Thread aspect to access configuration data.
Definition: configurable.h:32
virtual void init()
Initialize the thread.
virtual void loop()
Code to execute in the thread.
OpenNI Context Thread.
OpenNiContextThread()
Constructor.
virtual ~OpenNiContextThread()
Destructor.
OpenNiAspect initializer/finalizer.
Definition: openni_inifin.h:32