Fawkes API  Fawkes Development Version
retriever_thread.h
1 
2 /***************************************************************************
3  * retriever_thread.h - FireVision Retriever Thread
4  *
5  * Created: Tue Jun 26 17:37:38 2007
6  * Copyright 2006-2007 Tim Niemueller [www.niemueller.de]
7  *
8  ****************************************************************************/
9 
10 /* This program is free software; you can redistribute it and/or modify
11  * it under the terms of the GNU General Public License as published by
12  * the Free Software Foundation; either version 2 of the License, or
13  * (at your option) any later version.
14  *
15  * This program is distributed in the hope that it will be useful,
16  * but WITHOUT ANY WARRANTY; without even the implied warranty of
17  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
18  * GNU Library General Public License for more details.
19  *
20  * Read the full text in the LICENSE.GPL file in the doc directory.
21  */
22 
23 #ifndef _FIREVISION_APPS_RETRIEVER_RETRIEVER_THREAD_H_
24 #define _FIREVISION_APPS_RETRIEVER_RETRIEVER_THREAD_H_
25 
26 #include <aspect/clock.h>
27 #include <aspect/configurable.h>
28 #include <aspect/logging.h>
29 #include <aspect/vision.h>
30 #include <core/threading/thread.h>
31 
32 #include <string>
33 
34 namespace fawkes {
35 class TimeTracker;
36 }
37 namespace firevision {
38 class Camera;
39 class SharedMemoryImageBuffer;
40 class SeqWriter;
41 class ColorModelLookupTable;
42 } // namespace firevision
43 
46  public fawkes::LoggingAspect,
47  public fawkes::VisionAspect,
48  public fawkes::ClockAspect
49 {
50 public:
51  FvRetrieverThread(const std::string &camera_string,
52  const std::string &cfg_name,
53  const std::string &cfg_prefix);
54  virtual ~FvRetrieverThread();
55 
56  virtual void init();
57  virtual void finalize();
58  virtual void loop();
59 
60  /** Stub to see name in backtrace for easier debugging. @see Thread::run() */
61 protected:
62  virtual void
63  run()
64  {
65  Thread::run();
66  }
67 
68 private:
69  std::string cfg_name_;
70  std::string cfg_prefix_;
71  std::string camera_string_;
72  fawkes::Time *cap_time_;
73 
74  firevision::Camera * cam;
76  firevision::SeqWriter * seq_writer;
77  fawkes::TimeTracker * tt_;
78  unsigned int loop_count_;
79  unsigned int ttc_capture_;
80  unsigned int ttc_memcpy_;
81  unsigned int ttc_dispose_;
82  bool cam_has_timestamp_support_;
83 
85 };
86 
87 #endif
FireVision retriever thread.
virtual ~FvRetrieverThread()
Destructor.
virtual void init()
Initialize the thread.
virtual void run()
Stub to see name in backtrace for easier debugging.
FvRetrieverThread(const std::string &camera_string, const std::string &cfg_name, const std::string &cfg_prefix)
Constructor.
virtual void loop()
Thread loop.
virtual void finalize()
Finalize the thread.
Thread aspect that allows to obtain the current time from the clock.
Definition: clock.h:34
Thread aspect to access configuration data.
Definition: configurable.h:33
Thread aspect to log output.
Definition: logging.h:33
Thread class encapsulation of pthreads.
Definition: thread.h:46
Time tracking utility.
Definition: tracker.h:37
A class for handling time.
Definition: time.h:93
Thread aspect to use in FireVision apps.
Definition: vision.h:33
Camera interface for image aquiring devices in FireVision.
Definition: camera.h:33
Color model based on a lookup table.
Definition: lookuptable.h:35
Writes a sequence of images to disk.
Definition: seq_writer.h:34
Shared memory image buffer.
Definition: shm_image.h:184
Fawkes library namespace.