Fawkes API
Fawkes Development Version
|
00001 00002 /*************************************************************************** 00003 * acquisition_thread.h - FireVision Acquisition Thread 00004 * 00005 * Created: Wed Jun 06 19:01:10 2007 00006 * Copyright 2006-2009 Tim Niemueller [www.niemueller.de] 00007 * 00008 ****************************************************************************/ 00009 00010 /* This program is free software; you can redistribute it and/or modify 00011 * it under the terms of the GNU General Public License as published by 00012 * the Free Software Foundation; either version 2 of the License, or 00013 * (at your option) any later version. 00014 * 00015 * This program is distributed in the hope that it will be useful, 00016 * but WITHOUT ANY WARRANTY; without even the implied warranty of 00017 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00018 * GNU Library General Public License for more details. 00019 * 00020 * Read the full text in the LICENSE.GPL file in the doc directory. 00021 */ 00022 00023 #ifndef __FIREVISION_APPS_BASE_ACQUISITION_THREAD_H_ 00024 #define __FIREVISION_APPS_BASE_ACQUISITION_THREAD_H_ 00025 00026 #include <core/threading/thread.h> 00027 00028 #include <cams/shmem.h> 00029 #include <fvutils/color/colorspaces.h> 00030 00031 #include <map> 00032 00033 namespace fawkes { 00034 class Logger; 00035 class Clock; 00036 #ifdef FVBASE_TIMETRACKER 00037 class TimeTracker; 00038 #endif 00039 } 00040 namespace firevision { 00041 class SharedMemoryImageBuffer; 00042 } 00043 class FvBaseThread; 00044 class FvAqtVisionThreads; 00045 00046 class FvAcquisitionThread : public fawkes::Thread 00047 { 00048 public: 00049 /** Acquisition thread mode. */ 00050 typedef enum { 00051 AqtCyclic, /**< cyclic mode, use if there is at least one cyclic thread 00052 * for this acquisition thread. */ 00053 AqtContinuous /**< continuous mode, use if there are only continuous threads 00054 * for this acquisition thread. */ 00055 } AqtMode; 00056 00057 FvAcquisitionThread(const char *id, firevision::Camera *camera, 00058 fawkes::Logger *logger, fawkes::Clock *clock); 00059 virtual ~FvAcquisitionThread(); 00060 00061 virtual void loop(); 00062 00063 void set_aqtmode(AqtMode mode); 00064 AqtMode aqtmode(); 00065 firevision::Camera * camera_instance(firevision::colorspace_t cspace, bool deep_copy); 00066 00067 firevision::Camera *get_camera(); 00068 00069 void set_vt_prepfin_hold(bool hold); 00070 void set_enabled(bool enabled); 00071 00072 public: 00073 /** Vision threads assigned to this acquisition thread. To be used only by the 00074 * base thread. */ 00075 FvAqtVisionThreads *vision_threads; 00076 00077 /** Vision thread registered for raw camera access on this camera. */ 00078 fawkes::Thread *raw_subscriber_thread; 00079 00080 /** Stub to see name in backtrace for easier debugging. @see Thread::run() */ 00081 protected: virtual void run() { Thread::run(); } 00082 00083 private: 00084 bool __enabled; 00085 00086 firevision::Camera *__camera; 00087 char *__image_id; 00088 fawkes::Logger *__logger; 00089 00090 firevision::colorspace_t __colorspace; 00091 unsigned int __width; 00092 unsigned int __height; 00093 00094 AqtMode __mode; 00095 00096 std::map<firevision::colorspace_t, firevision::SharedMemoryImageBuffer *> __shm; 00097 std::map<firevision::colorspace_t, firevision::SharedMemoryImageBuffer *>::iterator __shmit; 00098 00099 #ifdef FVBASE_TIMETRACKER 00100 fawkes::TimeTracker *__tt; 00101 unsigned int __loop_count; 00102 unsigned int __ttc_capture; 00103 unsigned int __ttc_lock; 00104 unsigned int __ttc_convert; 00105 unsigned int __ttc_unlock; 00106 unsigned int __ttc_dispose; 00107 #endif 00108 }; 00109 00110 #endif