Fawkes API
Fawkes Development Version
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23 #ifndef _FIREVISION_APPS_BASE_ACQUISITION_THREAD_H_
24 #define _FIREVISION_APPS_BASE_ACQUISITION_THREAD_H_
26 #include <aspect/blackboard.h>
27 #include <aspect/logging.h>
28 #include <blackboard/interface_listener.h>
29 #include <core/threading/thread.h>
30 #include <fvcams/shmem.h>
31 #include <fvutils/color/colorspaces.h>
40 class SwitchInterface;
41 #ifdef FVBASE_TIMETRACKER
45 namespace firevision {
46 class SharedMemoryImageBuffer;
112 firevision::colorspace_t colorspace_;
114 unsigned int height_;
118 std::map<firevision::colorspace_t, firevision::SharedMemoryImageBuffer *> shm_;
119 std::map<firevision::colorspace_t, firevision::SharedMemoryImageBuffer *>::iterator shmit_;
123 #ifdef FVBASE_TIMETRACKER
125 unsigned int loop_count_;
126 unsigned int ttc_capture_;
127 unsigned int ttc_lock_;
128 unsigned int ttc_convert_;
129 unsigned int ttc_unlock_;
130 unsigned int ttc_dispose_;
void set_enabled(bool enabled)
Enable or disable image retrieval.
AqtMode
Acquisition thread mode.
AqtMode aqtmode()
Get acquisition thread mode.
virtual void run()
Stub to see name in backtrace for easier debugging.
firevision::Camera * camera_instance(firevision::colorspace_t cspace, bool deep_copy)
Get a camera instance.
virtual void finalize()
Finalize the thread.
fawkes::Thread * raw_subscriber_thread
Vision thread registered for raw camera access on this camera.
void set_vt_prepfin_hold(bool hold)
Set prepfin hold status for vision threads.
@ AqtContinuous
continuous mode, use if there are only continuous threads for this acquisition thread.
virtual void loop()
Code to execute in the thread.
void set_aqtmode(AqtMode mode)
Set acquisition thread mode.
@ AqtCyclic
cyclic mode, use if there is at least one cyclic thread for this acquisition thread.
virtual ~FvAcquisitionThread()
Destructor.
FvAcquisitionThread(const char *id, firevision::Camera *camera, fawkes::Logger *logger, fawkes::Clock *clock)
Constructor.
FvAqtVisionThreads * vision_threads
Vision threads assigned to this acquisition thread.
firevision::Camera * get_camera()
Get the Camera of this acquisition thread.
virtual void init()
Initialize the thread.