Public Types | Public Member Functions | Public Attributes | Protected Member Functions

FvAcquisitionThread Class Reference

FireVision base application acquisition thread. More...

#include "acquisition_thread.h"

Inheritance diagram for FvAcquisitionThread:
Inheritance graph
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List of all members.

Public Types

enum  AqtMode { AqtCyclic, AqtContinuous }
 

Acquisition thread mode.

More...

Public Member Functions

 FvAcquisitionThread (const char *id, firevision::Camera *camera, fawkes::Logger *logger, fawkes::Clock *clock)
 Constructor.
virtual ~FvAcquisitionThread ()
 Destructor.
virtual void loop ()
 Code to execute in the thread.
void set_aqtmode (AqtMode mode)
 Set acquisition thread mode.
AqtMode aqtmode ()
 Get acquisition thread mode.
firevision::Cameracamera_instance (firevision::colorspace_t cspace, bool deep_copy)
 Get a camera instance.
firevision::Cameraget_camera ()
 Get the Camera of this acquisition thread.
void set_vt_prepfin_hold (bool hold)
 Set prepfin hold status for vision threads.
void set_enabled (bool enabled)
 Enable or disable image retrieval.

Public Attributes

FvAqtVisionThreadsvision_threads
 Vision threads assigned to this acquisition thread.
fawkes::Threadraw_subscriber_thread
 Vision thread registered for raw camera access on this camera.

Protected Member Functions

virtual void run ()
 Stub to see name in backtrace for easier debugging.

Detailed Description

FireVision base application acquisition thread.

This thread is used by the base application to acquire images from a camera and call dependant threads when new images are available so that these threads can start processing the images.

Author:
Tim Niemueller

Definition at line 46 of file acquisition_thread.h.


Member Enumeration Documentation

Acquisition thread mode.

Enumerator:
AqtCyclic 

cyclic mode, use if there is at least one cyclic thread for this acquisition thread.

AqtContinuous 

continuous mode, use if there are only continuous threads for this acquisition thread.

Definition at line 50 of file acquisition_thread.h.


Constructor & Destructor Documentation

FvAcquisitionThread::FvAcquisitionThread ( const char *  id,
firevision::Camera camera,
fawkes::Logger logger,
fawkes::Clock clock 
)

Constructor.

Parameters:
logger logger
id id to be used for the shared memory segment and to announce changes to the base thread
camera camera to manage
clock clock to use for timeout measurement (system time)

Definition at line 62 of file acquisition_thread.cpp.

References firevision::Camera::colorspace(), fawkes::Logger::log_debug(), fawkes::Thread::name(), firevision::Camera::pixel_height(), firevision::Camera::pixel_width(), raw_subscriber_thread, and vision_threads.

FvAcquisitionThread::~FvAcquisitionThread (  )  [virtual]

Destructor.

Definition at line 95 of file acquisition_thread.cpp.

References firevision::Camera::close(), and vision_threads.


Member Function Documentation

FvAcquisitionThread::AqtMode FvAcquisitionThread::aqtmode (  ) 

Get acquisition thread mode.

Returns:
acquisition thread mode.

Definition at line 218 of file acquisition_thread.cpp.

Camera * FvAcquisitionThread::camera_instance ( firevision::colorspace_t  cspace,
bool  deep_copy 
)

Get a camera instance.

This will return a camera instance suitable for accessing the image buffer. Note, that this is not the camera provided to the constructor, but rather a SharedMemoryCamera instance accessing a shared memory buffer where the image is copied to (or a conversion result is posted to). The returned instance has to bee freed using delete when done with it.

You can decide whether you want to get access to the raw camera image that has not been modified in any way or to the YUV422_PLANAR image buffer (a conversion is done if needed). Use the raw parameter to decide whether to get the raw image (true) or the YUV422_PLANAR image (false).

When a thread is added it is internally put into a waiting queue. Since at the time when it is added the thread is not yet started, and its initialization may even fail. For this reason the acquisition thread registers itself to receive status notifications of the thread. If the thread signals successful startup it is moved to the running queue and from then on woken up when new image material can be processed. If the thread fails for whatever reason it is dropped.

The acquisition thread has a timeout. If no thread is in the running or waiting queue for this number of seconds, the base thread is signalled to shut down this acquisition thread (which the base thread may do or deny). This is done so that if a plugin is just unloaded shortly and then quickly loaded again the overhead of closing the camera and then opening it again is avoided.

Parameters:
cspace the desired colorspace the image should be converted to. See general notes in VisionMaster::register_for_camera().
deep_copy given to the shared memory camera.
Returns:
camera instance
See also:
SharedMemoryCamera

Definition at line 139 of file acquisition_thread.cpp.

References raw_subscriber_thread.

Referenced by FvBaseThread::register_for_camera().

Camera * FvAcquisitionThread::get_camera (  ) 

Get the Camera of this acquisition thread.

This is just used for the camera controls, if you want to access the camera, use camera_instance()

Returns:
a pointer to the Camera

Definition at line 176 of file acquisition_thread.cpp.

void FvAcquisitionThread::loop (  )  [virtual]

Code to execute in the thread.

Implement this method to hold the code you want to be executed continously. If you do not implement this method, the default is that the thread will exit. This is useful if you choose to only implement once().

Reimplemented from fawkes::Thread.

Definition at line 242 of file acquisition_thread.cpp.

References AqtCyclic, firevision::Camera::buffer(), firevision::Camera::capture(), firevision::Camera::capture_time(), firevision::Camera::dispose_buffer(), fawkes::Logger::log_error(), fawkes::Thread::name(), fawkes::Thread::set_cancel_state(), vision_threads, and FvAqtVisionThreads::wakeup_and_wait_cyclic_threads().

virtual void FvAcquisitionThread::run (  )  [inline, protected, virtual]

Stub to see name in backtrace for easier debugging.

See also:
Thread::run()

Reimplemented from fawkes::Thread.

Definition at line 81 of file acquisition_thread.h.

void FvAcquisitionThread::set_aqtmode ( AqtMode  mode  ) 

Set acquisition thread mode.

Note that this may only be called on a stopped thread or an exception will be thrown by Thread::set_opmode()!

Parameters:
mode new acquisition thread mode

Definition at line 188 of file acquisition_thread.cpp.

References AqtContinuous, AqtCyclic, and fawkes::Thread::set_opmode().

void FvAcquisitionThread::set_enabled ( bool  enabled  ) 

Enable or disable image retrieval.

When the acquisition thread is enabled image data will be converted or copied to the shared memory buffer, otherwise only the capture/dispose cycle is executed.

Parameters:
enabled true to enable acquisition thread, false to disable

Definition at line 208 of file acquisition_thread.cpp.

void FvAcquisitionThread::set_vt_prepfin_hold ( bool  hold  ) 

Set prepfin hold status for vision threads.

Parameters:
hold prepfin hold status
See also:
Thread::set_prepfin_hold()

Definition at line 229 of file acquisition_thread.cpp.

References fawkes::Logger::log_warn(), fawkes::Thread::name(), FvAqtVisionThreads::set_prepfin_hold(), and vision_threads.


Member Data Documentation

Vision thread registered for raw camera access on this camera.

Definition at line 78 of file acquisition_thread.h.

Referenced by camera_instance(), and FvAcquisitionThread().

Vision threads assigned to this acquisition thread.

To be used only by the base thread.

Definition at line 75 of file acquisition_thread.h.

Referenced by FvAcquisitionThread(), loop(), FvBaseThread::register_for_camera(), set_vt_prepfin_hold(), and ~FvAcquisitionThread().


The documentation for this class was generated from the following files: