Fawkes API
Fawkes Development Version
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 <aspect/blocked_timing.h>
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#include <aspect/clock.h>
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#include <aspect/configurable.h>
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#include <aspect/logging.h>
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#include <aspect/thread_producer.h>
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#include <aspect/vision_master.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_list.h>
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#include <core/utils/lock_map.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
:
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
*
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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
:
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virtual
void
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run
()
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{
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Thread::run();
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}
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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
FvBaseThread::release_camctrl
virtual void release_camctrl(firevision::CameraControl *cc)
Definition:
base_thread.cpp:363
fawkes::LockMap< std::string, FvAcquisitionThread * >
firevision::CameraControl
Definition:
control.h:37
FvBaseThread::register_for_raw_camera
virtual firevision::Camera * register_for_raw_camera(const char *camera_string, fawkes::Thread *thread)
Definition:
base_thread.cpp:298
fawkes::VisionMasterAspect
Definition:
vision_master.h:35
FvBaseThread::loop
virtual void loop()
Thread loop.
Definition:
base_thread.cpp:101
FvAcquisitionThread
Definition:
acquisition_thread.h:51
fawkes::LockList< firevision::CameraControl * >
fawkes::ThreadProducerAspect
Definition:
thread_producer.h:38
fawkes::BlockedTimingAspect
Definition:
blocked_timing.h:56
FvBaseThread::thread_init_failed
virtual bool thread_init_failed(fawkes::Thread *thread)
Definition:
base_thread.cpp:450
FvBaseThread::run
virtual void run()
Stub to see name in backtrace for easier debugging.
Definition:
base_thread.h:82
FvBaseThread::FvBaseThread
FvBaseThread()
Constructor.
Definition:
base_thread.cpp:55
fawkes::ThreadNotificationListener
Definition:
thread_notification_listener.h:37
FvBaseThread
Definition:
base_thread.h:45
fawkes
fawkes::LoggingAspect
Definition:
logging.h:38
FvBaseThread::thread_started
virtual bool thread_started(fawkes::Thread *thread)
Definition:
base_thread.cpp:434
FvBaseThread::acquire_camctrl
virtual firevision::CameraControl * acquire_camctrl(const char *cam_string)
Definition:
base_thread.cpp:333
FvBaseThread::init
virtual void init()
Initialize the thread.
Definition:
base_thread.cpp:72
FvBaseThread::register_for_camera
virtual firevision::Camera * register_for_camera(const char *camera_string, fawkes::Thread *thread, firevision::colorspace_t cspace=firevision::YUV422_PLANAR)
Definition:
base_thread.cpp:224
FvBaseThread::unregister_thread
virtual void unregister_thread(fawkes::Thread *thread)
Definition:
base_thread.cpp:389
fawkes::Thread
Definition:
thread.h:45
FvBaseThread::finalize
virtual void finalize()
Finalize the thread.
Definition:
base_thread.cpp:81
fawkes::ConfigurableAspect
Definition:
configurable.h:38
firevision::Camera
Definition:
camera.h:38
FvBaseThread::~FvBaseThread
virtual ~FvBaseThread()
Destructor.
Definition:
base_thread.cpp:66
fawkes::Barrier
Definition:
barrier.h:37
firevision::VisionMaster
Definition:
vision_master.h:43
FvBaseThread::vision_master
virtual firevision::VisionMaster * vision_master()
Get vision master.
Definition:
base_thread.cpp:218
fawkes::ClockAspect
Definition:
clock.h:40
src
plugins
perception
base
base_thread.h
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