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00023 #ifndef __FIREVISION_APPS_BASE_ACQUISITION_THREAD_H_
00024 #define __FIREVISION_APPS_BASE_ACQUISITION_THREAD_H_
00025
00026 #include <core/threading/thread.h>
00027
00028 #include <cams/shmem.h>
00029 #include <fvutils/color/colorspaces.h>
00030
00031 #include <map>
00032
00033 namespace fawkes {
00034 class Logger;
00035 class Clock;
00036 #ifdef FVBASE_TIMETRACKER
00037 class TimeTracker;
00038 #endif
00039 }
00040 namespace firevision {
00041 class SharedMemoryImageBuffer;
00042 }
00043 class FvBaseThread;
00044 class FvAqtVisionThreads;
00045
00046 class FvAcquisitionThread : public fawkes::Thread
00047 {
00048 public:
00049
00050 typedef enum {
00051 AqtCyclic,
00052
00053 AqtContinuous
00054
00055 } AqtMode;
00056
00057 FvAcquisitionThread(const char *id, firevision::Camera *camera,
00058 fawkes::Logger *logger, fawkes::Clock *clock);
00059 virtual ~FvAcquisitionThread();
00060
00061 virtual void loop();
00062
00063 void set_aqtmode(AqtMode mode);
00064 AqtMode aqtmode();
00065 firevision::Camera * camera_instance(firevision::colorspace_t cspace, bool deep_copy);
00066
00067 firevision::Camera *get_camera();
00068
00069 void set_vt_prepfin_hold(bool hold);
00070 void set_enabled(bool enabled);
00071
00072 public:
00073
00074
00075 FvAqtVisionThreads *vision_threads;
00076
00077
00078 fawkes::Thread *raw_subscriber_thread;
00079
00080
00081 protected: virtual void run() { Thread::run(); }
00082
00083 private:
00084 bool __enabled;
00085
00086 firevision::Camera *__camera;
00087 char *__image_id;
00088 fawkes::Logger *__logger;
00089
00090 firevision::colorspace_t __colorspace;
00091 unsigned int __width;
00092 unsigned int __height;
00093
00094 AqtMode __mode;
00095
00096 std::map<firevision::colorspace_t, firevision::SharedMemoryImageBuffer *> __shm;
00097 std::map<firevision::colorspace_t, firevision::SharedMemoryImageBuffer *>::iterator __shmit;
00098
00099 #ifdef FVBASE_TIMETRACKER
00100 fawkes::TimeTracker *__tt;
00101 unsigned int __loop_count;
00102 unsigned int __ttc_capture;
00103 unsigned int __ttc_lock;
00104 unsigned int __ttc_convert;
00105 unsigned int __ttc_unlock;
00106 unsigned int __ttc_dispose;
00107 #endif
00108 };
00109
00110 #endif