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base_thread.h
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/***************************************************************************
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* base_thread.h - FireVision Base Thread
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*
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* Created: Tue May 29 16:40:10 2007
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* Copyright 2006-2009 Tim Niemueller [www.niemueller.de]
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*
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****************************************************************************/
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/* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU Library General Public License for more details.
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*
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* Read the full text in the LICENSE.GPL file in the doc directory.
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*/
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#ifndef __FIREVISION_APPS_BASE_BASE_THREAD_H_
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#define __FIREVISION_APPS_BASE_BASE_THREAD_H_
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#include <core/threading/thread.h>
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#include <core/threading/thread_notification_listener.h>
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#include <core/utils/lock_map.h>
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#include <core/utils/lock_list.h>
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#include <aspect/blocked_timing.h>
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#include <aspect/logging.h>
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#include <aspect/vision_master.h>
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#include <aspect/clock.h>
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#include <aspect/thread_producer.h>
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#include <aspect/configurable.h>
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#include <fvutils/base/vision_master.h>
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#include <string>
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namespace
fawkes {
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class
Barrier;
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}
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class
FvAcquisitionThread
;
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class
FvBaseThread
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:
public
fawkes::Thread
,
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public
fawkes::BlockedTimingAspect
,
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public
fawkes::LoggingAspect
,
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public
fawkes::VisionMasterAspect
,
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public
fawkes::ClockAspect
,
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public
fawkes::ThreadProducerAspect
,
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public
fawkes::ConfigurableAspect
,
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public
fawkes::ThreadNotificationListener
,
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public
firevision::VisionMaster
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{
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public
:
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FvBaseThread
();
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virtual
~FvBaseThread
();
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virtual
void
init
();
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virtual
void
loop
();
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virtual
void
finalize
();
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virtual
firevision::VisionMaster
*
vision_master
();
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virtual
firevision::Camera
*
register_for_camera
(
const
char
*camera_string,
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fawkes::Thread
*thread,
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firevision::colorspace_t cspace = firevision::YUV422_PLANAR);
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virtual
firevision::Camera
*
register_for_raw_camera
(
const
char
*camera_string,
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fawkes::Thread
*thread);
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virtual
void
unregister_thread
(
fawkes::Thread
*thread);
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virtual
firevision::CameraControl
*
acquire_camctrl
(
const
char
*cam_string);
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virtual
void
release_camctrl
(
firevision::CameraControl
*cc);
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virtual
bool
thread_started
(
fawkes::Thread
*thread)
throw
();
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virtual
bool
thread_init_failed
(
fawkes::Thread
*thread)
throw
();
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/** Stub to see name in backtrace for easier debugging. @see Thread::run() */
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protected
:
virtual
void
run
() { Thread::run(); }
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protected
:
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virtual
firevision::CameraControl
*
acquire_camctrl
(
const
char
*cam_string,
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const
std::type_info &typeinf);
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private
:
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void
cond_recreate_barrier(
unsigned
int
num_cyclic_threads);
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firevision::CameraControl
* create_camctrl(
const
char
*camera_string);
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private
:
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fawkes::LockMap<std::string, FvAcquisitionThread *>
__aqts;
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fawkes::LockMap<std::string, FvAcquisitionThread *>::iterator
__ait;
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unsigned
int
__aqt_timeout;
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fawkes::LockList<firevision::CameraControl *>
__owned_controls;
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fawkes::LockMap<Thread *, FvAcquisitionThread *>
__started_threads;
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fawkes::Barrier
*__aqt_barrier;
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};
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#endif
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base
base_thread.h
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