Fawkes API  Fawkes Development Version
FvAcquisitionThread Class Reference

FireVision base application acquisition thread. More...

#include "acquisition_thread.h"

Inheritance diagram for FvAcquisitionThread:

Public Types

enum  AqtMode { AqtCyclic, AqtContinuous }
 Acquisition thread mode. More...
 
- Public Types inherited from fawkes::Thread
enum  OpMode { OPMODE_CONTINUOUS, OPMODE_WAITFORWAKEUP }
 Thread operation mode. More...
 
enum  CancelState { CANCEL_ENABLED, CANCEL_DISABLED }
 Cancel state. More...
 

Public Member Functions

 FvAcquisitionThread (const char *id, firevision::Camera *camera, fawkes::Logger *logger, fawkes::Clock *clock)
 Constructor. More...
 
virtual ~FvAcquisitionThread ()
 Destructor. More...
 
virtual void loop ()
 Code to execute in the thread. More...
 
void set_aqtmode (AqtMode mode)
 Set acquisition thread mode. More...
 
AqtMode aqtmode ()
 Get acquisition thread mode. More...
 
firevision::Cameracamera_instance (firevision::colorspace_t cspace, bool deep_copy)
 Get a camera instance. More...
 
firevision::Cameraget_camera ()
 Get the Camera of this acquisition thread. More...
 
void set_vt_prepfin_hold (bool hold)
 Set prepfin hold status for vision threads. More...
 
void set_enabled (bool enabled)
 Enable or disable image retrieval. More...
 
- Public Member Functions inherited from fawkes::Thread
virtual ~Thread ()
 Virtual destructor. More...
 
virtual void init ()
 Initialize the thread. More...
 
bool prepare_finalize ()
 Prepare finalization. More...
 
virtual bool prepare_finalize_user ()
 Prepare finalization user implementation. More...
 
virtual void finalize ()
 Finalize the thread. More...
 
void cancel_finalize ()
 Cancel finalization. More...
 
void start (bool wait=true)
 Call this method to start the thread. More...
 
void cancel ()
 Cancel a thread. More...
 
void join ()
 Join the thread. More...
 
void detach ()
 Detach the thread. More...
 
void kill (int sig)
 Send signal to a thread. More...
 
bool operator== (const Thread &thread)
 Check if two threads are the same. More...
 
void wakeup ()
 Wake up thread. More...
 
void wakeup (Barrier *barrier)
 Wake up thread and wait for barrier afterwards. More...
 
void wait_loop_done ()
 Wait for the current loop iteration to finish. More...
 
OpMode opmode () const
 Get operation mode. More...
 
pthread_t thread_id () const
 Get ID of thread. More...
 
bool started () const
 Check if thread has been started. More...
 
bool cancelled () const
 Check if thread has been cancelled. More...
 
bool detached () const
 Check if thread has been detached. More...
 
bool running () const
 Check if the thread is running. More...
 
bool waiting () const
 Check if thread is currently waiting for wakeup. More...
 
const char * name () const
 Get name of thread. More...
 
void set_flags (uint32_t flags)
 Set all flags in one go. More...
 
void set_flag (uint32_t flag)
 Set flag for the thread. More...
 
void unset_flag (uint32_t flag)
 Unset flag. More...
 
bool flagged_bad () const
 Check if FLAG_BAD was set. More...
 
void set_delete_on_exit (bool del)
 Set whether the thread should be deleted on exit. More...
 
void set_prepfin_hold (bool hold)
 Hold prepare_finalize(). More...
 
void add_notification_listener (ThreadNotificationListener *notification_listener)
 Add notification listener. More...
 
void remove_notification_listener (ThreadNotificationListener *notification_listener)
 Remove notification listener. More...
 

Public Attributes

FvAqtVisionThreadsvision_threads
 Vision threads assigned to this acquisition thread. More...
 
fawkes::Threadraw_subscriber_thread
 Vision thread registered for raw camera access on this camera. More...
 

Protected Member Functions

virtual void run ()
 Stub to see name in backtrace for easier debugging. More...
 
- Protected Member Functions inherited from fawkes::Thread
 Thread (const char *name)
 Constructor. More...
 
 Thread (const char *name, OpMode op_mode)
 Constructor. More...
 
void exit ()
 Exit the thread. More...
 
void test_cancel ()
 Set cancellation point. More...
 
void yield ()
 Yield the processor to another thread or process. More...
 
void set_opmode (OpMode op_mode)
 Set operation mode. More...
 
void set_prepfin_conc_loop (bool concurrent=true)
 Set concurrent execution of prepare_finalize() and loop(). More...
 
void set_coalesce_wakeups (bool coalesce=true)
 Set wakeup coalescing. More...
 
void set_name (const char *format,...)
 Set name of thread. More...
 
virtual void once ()
 Execute an action exactly once. More...
 
bool wakeup_pending ()
 Check if wakeups are pending. More...
 

Additional Inherited Members

- Static Public Member Functions inherited from fawkes::Thread
static Threadcurrent_thread ()
 Get the Thread instance of the currently running thread. More...
 
static Threadcurrent_thread_noexc () throw ()
 Similar to current_thread, but does never throw an exception. More...
 
static pthread_t current_thread_id ()
 Get the ID of the currently running thread. More...
 
static void init_main ()
 Initialize Thread wrapper instance for main thread. More...
 
static void destroy_main ()
 Destroy main thread wrapper instance. More...
 
static void set_cancel_state (CancelState new_state, CancelState *old_state=0)
 Set the cancel state of the current thread. More...
 
- Static Public Attributes inherited from fawkes::Thread
static const unsigned int FLAG_BAD = 0x00000001
 Standard thread flag: "thread is bad". More...
 
- Protected Attributes inherited from fawkes::Thread
bool finalize_prepared
 True if prepare_finalize() has been called and was not stopped with a cancel_finalize(), false otherwise. More...
 
Mutexloop_mutex
 Mutex that is used to protect a call to loop(). More...
 
Mutexloopinterrupt_antistarve_mutex
 Mutex to avoid starvation when trying to lock loop_mutex. More...
 

Detailed Description

FireVision base application acquisition thread.

This thread is used by the base application to acquire images from a camera and call dependant threads when new images are available so that these threads can start processing the images.

Author
Tim Niemueller

Definition at line 46 of file acquisition_thread.h.

Member Enumeration Documentation

Acquisition thread mode.

Enumerator
AqtCyclic 

cyclic mode, use if there is at least one cyclic thread for this acquisition thread.

AqtContinuous 

continuous mode, use if there are only continuous threads for this acquisition thread.

Definition at line 50 of file acquisition_thread.h.

Constructor & Destructor Documentation

FvAcquisitionThread::FvAcquisitionThread ( const char *  id,
firevision::Camera camera,
fawkes::Logger logger,
fawkes::Clock clock 
)

Constructor.

Parameters
loggerlogger
idid to be used for the shared memory segment and to announce changes to the base thread
cameracamera to manage
clockclock to use for timeout measurement (system time)

Definition at line 62 of file acquisition_thread.cpp.

References AqtContinuous, firevision::Camera::colorspace(), fawkes::Logger::log_debug(), fawkes::Thread::name(), firevision::Camera::pixel_height(), firevision::Camera::pixel_width(), raw_subscriber_thread, and vision_threads.

FvAcquisitionThread::~FvAcquisitionThread ( )
virtual

Destructor.

Definition at line 95 of file acquisition_thread.cpp.

References firevision::Camera::close(), and vision_threads.

Member Function Documentation

FvAcquisitionThread::AqtMode FvAcquisitionThread::aqtmode ( )

Get acquisition thread mode.

Returns
acquisition thread mode.

Definition at line 223 of file acquisition_thread.cpp.

Camera * FvAcquisitionThread::camera_instance ( firevision::colorspace_t  cspace,
bool  deep_copy 
)

Get a camera instance.

This will return a camera instance suitable for accessing the image buffer. Note, that this is not the camera provided to the constructor, but rather a SharedMemoryCamera instance accessing a shared memory buffer where the image is copied to (or a conversion result is posted to). The returned instance has to bee freed using delete when done with it.

You can decide whether you want to get access to the raw camera image that has not been modified in any way or to the YUV422_PLANAR image buffer (a conversion is done if needed). Use the raw parameter to decide whether to get the raw image (true) or the YUV422_PLANAR image (false).

When a thread is added it is internally put into a waiting queue. Since at the time when it is added the thread is not yet started, and its initialization may even fail. For this reason the acquisition thread registers itself to receive status notifications of the thread. If the thread signals successful startup it is moved to the running queue and from then on woken up when new image material can be processed. If the thread fails for whatever reason it is dropped.

The acquisition thread has a timeout. If no thread is in the running or waiting queue for this number of seconds, the base thread is signalled to shut down this acquisition thread (which the base thread may do or deny). This is done so that if a plugin is just unloaded shortly and then quickly loaded again the overhead of closing the camera and then opening it again is avoided.

Parameters
cspacethe desired colorspace the image should be converted to. See general notes in VisionMaster::register_for_camera().
deep_copygiven to the shared memory camera.
Returns
camera instance
See also
SharedMemoryCamera

Definition at line 144 of file acquisition_thread.cpp.

References raw_subscriber_thread.

Referenced by FvBaseThread::register_for_camera().

Camera * FvAcquisitionThread::get_camera ( )

Get the Camera of this acquisition thread.

This is just used for the camera controls, if you want to access the camera, use camera_instance()

Returns
a pointer to the Camera

Definition at line 181 of file acquisition_thread.cpp.

void FvAcquisitionThread::loop ( )
virtual

Code to execute in the thread.

Implement this method to hold the code you want to be executed continously. If you do not implement this method, the default is that the thread will exit. This is useful if you choose to only implement once().

Reimplemented from fawkes::Thread.

Definition at line 247 of file acquisition_thread.cpp.

References AqtCyclic, firevision::Camera::buffer(), firevision::Camera::capture(), firevision::Camera::capture_time(), firevision::Camera::dispose_buffer(), fawkes::Logger::log_error(), fawkes::Thread::name(), fawkes::Thread::set_cancel_state(), vision_threads, and FvAqtVisionThreads::wakeup_and_wait_cyclic_threads().

virtual void FvAcquisitionThread::run ( )
inlineprotectedvirtual

Stub to see name in backtrace for easier debugging.

See also
Thread::run()

Reimplemented from fawkes::Thread.

Definition at line 81 of file acquisition_thread.h.

References fawkes::Thread::run().

void FvAcquisitionThread::set_aqtmode ( AqtMode  mode)

Set acquisition thread mode.

Note that this may only be called on a stopped thread or an exception will be thrown by Thread::set_opmode()!

Parameters
modenew acquisition thread mode

Definition at line 193 of file acquisition_thread.cpp.

References AqtContinuous, AqtCyclic, and fawkes::Thread::set_opmode().

void FvAcquisitionThread::set_enabled ( bool  enabled)

Enable or disable image retrieval.

When the acquisition thread is enabled image data will be converted or copied to the shared memory buffer, otherwise only the capture/dispose cycle is executed.

Parameters
enabledtrue to enable acquisition thread, false to disable

Definition at line 213 of file acquisition_thread.cpp.

void FvAcquisitionThread::set_vt_prepfin_hold ( bool  hold)

Set prepfin hold status for vision threads.

Parameters
holdprepfin hold status
See also
Thread::set_prepfin_hold()

Definition at line 234 of file acquisition_thread.cpp.

References fawkes::Logger::log_warn(), fawkes::Thread::name(), FvAqtVisionThreads::set_prepfin_hold(), and vision_threads.

Member Data Documentation

fawkes::Thread* FvAcquisitionThread::raw_subscriber_thread

Vision thread registered for raw camera access on this camera.

Definition at line 78 of file acquisition_thread.h.

Referenced by camera_instance(), and FvAcquisitionThread().

FvAqtVisionThreads* FvAcquisitionThread::vision_threads

Vision threads assigned to this acquisition thread.

To be used only by the base thread.

Definition at line 75 of file acquisition_thread.h.

Referenced by FvAcquisitionThread(), loop(), FvBaseThread::register_for_camera(), set_vt_prepfin_hold(), and ~FvAcquisitionThread().


The documentation for this class was generated from the following files: