Fawkes API
Fawkes Development Version
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FireVision base application acquisition thread. More...
#include "acquisition_thread.h"
Public Types | |
enum | AqtMode { AqtCyclic, AqtContinuous } |
Acquisition thread mode. More... | |
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enum | OpMode { OPMODE_CONTINUOUS, OPMODE_WAITFORWAKEUP } |
Thread operation mode. More... | |
enum | CancelState { CANCEL_ENABLED, CANCEL_DISABLED } |
Cancel state. More... | |
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enum | QueueEntryType { DATA = 0, MESSAGES = 1, READER = 2, WRITER = 3 } |
Queue entry type. More... | |
typedef std::list< QueueEntry > | InterfaceQueue |
Queue of additions/removal of interfaces. More... | |
typedef std::map< std::string, Interface * > | InterfaceMap |
Map of currently active event subscriptions. More... | |
Public Member Functions | |
FvAcquisitionThread (const char *id, firevision::Camera *camera, fawkes::Logger *logger, fawkes::Clock *clock) | |
Constructor. More... | |
virtual | ~FvAcquisitionThread () |
Destructor. More... | |
virtual void | init () |
Initialize the thread. More... | |
virtual void | loop () |
Code to execute in the thread. More... | |
virtual void | finalize () |
Finalize the thread. More... | |
void | set_aqtmode (AqtMode mode) |
Set acquisition thread mode. More... | |
AqtMode | aqtmode () |
Get acquisition thread mode. More... | |
firevision::Camera * | camera_instance (firevision::colorspace_t cspace, bool deep_copy) |
Get a camera instance. More... | |
firevision::Camera * | get_camera () |
Get the Camera of this acquisition thread. More... | |
void | set_vt_prepfin_hold (bool hold) |
Set prepfin hold status for vision threads. More... | |
void | set_enabled (bool enabled) |
Enable or disable image retrieval. More... | |
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virtual | ~Thread () |
Virtual destructor. More... | |
bool | prepare_finalize () |
Prepare finalization. More... | |
virtual bool | prepare_finalize_user () |
Prepare finalization user implementation. More... | |
void | cancel_finalize () |
Cancel finalization. More... | |
void | start (bool wait=true) |
Call this method to start the thread. More... | |
void | cancel () |
Cancel a thread. More... | |
void | join () |
Join the thread. More... | |
void | detach () |
Detach the thread. More... | |
void | kill (int sig) |
Send signal to a thread. More... | |
bool | operator== (const Thread &thread) |
Check if two threads are the same. More... | |
void | wakeup () |
Wake up thread. More... | |
void | wakeup (Barrier *barrier) |
Wake up thread and wait for barrier afterwards. More... | |
void | wait_loop_done () |
Wait for the current loop iteration to finish. More... | |
OpMode | opmode () const |
Get operation mode. More... | |
pthread_t | thread_id () const |
Get ID of thread. More... | |
bool | started () const |
Check if thread has been started. More... | |
bool | cancelled () const |
Check if thread has been cancelled. More... | |
bool | detached () const |
Check if thread has been detached. More... | |
bool | running () const |
Check if the thread is running. More... | |
bool | waiting () const |
Check if thread is currently waiting for wakeup. More... | |
const char * | name () const |
Get name of thread. More... | |
void | set_flags (uint32_t flags) |
Set all flags in one go. More... | |
void | set_flag (uint32_t flag) |
Set flag for the thread. More... | |
void | unset_flag (uint32_t flag) |
Unset flag. More... | |
bool | flagged_bad () const |
Check if FLAG_BAD was set. More... | |
void | set_delete_on_exit (bool del) |
Set whether the thread should be deleted on exit. More... | |
void | set_prepfin_hold (bool hold) |
Hold prepare_finalize(). More... | |
void | add_notification_listener (ThreadNotificationListener *notification_listener) |
Add notification listener. More... | |
void | remove_notification_listener (ThreadNotificationListener *notification_listener) |
Remove notification listener. More... | |
void | notify_of_failed_init () |
Notify of failed init. More... | |
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LoggingAspect () | |
Constructor. More... | |
virtual | ~LoggingAspect () |
Virtual empty Destructor. More... | |
void | init_LoggingAspect (Logger *logger) |
Set the logger. More... | |
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const std::list< const char * > & | get_aspects () const |
Get list of aspect names attached to a aspected thread. More... | |
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BlackBoardAspect (const char *owner=NULL) | |
Constructor. More... | |
virtual | ~BlackBoardAspect () |
Virtual empty destructor. More... | |
void | init_BlackBoardAspect (BlackBoard *bb) |
Init BlackBoard aspect. More... | |
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BlackBoardInterfaceListener (const char *name_format,...) | |
Constructor. More... | |
virtual | ~BlackBoardInterfaceListener () |
Destructor. More... | |
const char * | bbil_name () const |
Get BBIL name. More... | |
virtual void | bb_interface_data_changed (Interface *interface) throw () |
BlackBoard data changed notification. More... | |
virtual void | bb_interface_writer_added (Interface *interface, unsigned int instance_serial) throw () |
A writing instance has been opened for a watched interface. More... | |
virtual void | bb_interface_writer_removed (Interface *interface, unsigned int instance_serial) throw () |
A writing instance has been closed for a watched interface. More... | |
virtual void | bb_interface_reader_added (Interface *interface, unsigned int instance_serial) throw () |
A reading instance has been opened for a watched interface. More... | |
virtual void | bb_interface_reader_removed (Interface *interface, unsigned int instance_serial) throw () |
A reading instance has been closed for a watched interface. More... | |
Public Attributes | |
FvAqtVisionThreads * | vision_threads |
Vision threads assigned to this acquisition thread. More... | |
fawkes::Thread * | raw_subscriber_thread |
Vision thread registered for raw camera access on this camera. More... | |
Protected Member Functions | |
virtual void | run () |
Stub to see name in backtrace for easier debugging. More... | |
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Thread (const char *name) | |
Constructor. More... | |
Thread (const char *name, OpMode op_mode) | |
Constructor. More... | |
void | exit () |
Exit the thread. More... | |
void | test_cancel () |
Set cancellation point. More... | |
void | yield () |
Yield the processor to another thread or process. More... | |
void | set_opmode (OpMode op_mode) |
Set operation mode. More... | |
void | set_prepfin_conc_loop (bool concurrent=true) |
Set concurrent execution of prepare_finalize() and loop(). More... | |
void | set_coalesce_wakeups (bool coalesce=true) |
Set wakeup coalescing. More... | |
void | set_name (const char *format,...) |
Set name of thread. More... | |
virtual void | once () |
Execute an action exactly once. More... | |
bool | wakeup_pending () |
Check if wakeups are pending. More... | |
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void | add_aspect (const char *name) |
Add an aspect to a thread. More... | |
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void | bbil_add_data_interface (Interface *interface) |
Add an interface to the data modification watch list. More... | |
void | bbil_add_message_interface (Interface *interface) |
Add an interface to the message received watch list. More... | |
void | bbil_add_reader_interface (Interface *interface) |
Add an interface to the reader addition/removal watch list. More... | |
void | bbil_add_writer_interface (Interface *interface) |
Add an interface to the writer addition/removal watch list. More... | |
void | bbil_remove_data_interface (Interface *interface) |
Remove an interface to the data modification watch list. More... | |
void | bbil_remove_message_interface (Interface *interface) |
Remove an interface to the message received watch list. More... | |
void | bbil_remove_reader_interface (Interface *interface) |
Remove an interface to the reader addition/removal watch list. More... | |
void | bbil_remove_writer_interface (Interface *interface) |
Remove an interface to the writer addition/removal watch list. More... | |
Interface * | bbil_data_interface (const char *iuid) throw () |
Get interface instance for given UID. More... | |
Interface * | bbil_message_interface (const char *iuid) throw () |
Get interface instance for given UID. More... | |
Interface * | bbil_reader_interface (const char *iuid) throw () |
Get interface instance for given UID. More... | |
Interface * | bbil_writer_interface (const char *iuid) throw () |
Get interface instance for given UID. More... | |
Additional Inherited Members | |
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static Thread * | current_thread () |
Get the Thread instance of the currently running thread. More... | |
static Thread * | current_thread_noexc () throw () |
Similar to current_thread, but does never throw an exception. More... | |
static pthread_t | current_thread_id () |
Get the ID of the currently running thread. More... | |
static void | init_main () |
Initialize Thread wrapper instance for main thread. More... | |
static void | destroy_main () |
Destroy main thread wrapper instance. More... | |
static void | set_cancel_state (CancelState new_state, CancelState *old_state=0) |
Set the cancel state of the current thread. More... | |
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static const unsigned int | FLAG_BAD = 0x00000001 |
Standard thread flag: "thread is bad". More... | |
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bool | finalize_prepared |
True if prepare_finalize() has been called and was not stopped with a cancel_finalize(), false otherwise. More... | |
Mutex * | loop_mutex |
Mutex that is used to protect a call to loop(). More... | |
Mutex * | loopinterrupt_antistarve_mutex |
Mutex to avoid starvation when trying to lock loop_mutex. More... | |
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Logger * | logger |
This is the Logger member used to access the logger. More... | |
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BlackBoard * | blackboard |
This is the BlackBoard instance you can use to interact with the BlackBoard. More... | |
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.
Definition at line 53 of file acquisition_thread.h.
Acquisition thread mode.
Definition at line 61 of file acquisition_thread.h.
FvAcquisitionThread::FvAcquisitionThread | ( | const char * | id, |
firevision::Camera * | camera, | ||
fawkes::Logger * | logger, | ||
fawkes::Clock * | clock | ||
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Constructor.
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 67 of file acquisition_thread.cpp.
References AqtContinuous, firevision::Camera::colorspace(), firevision::Camera::pixel_height(), firevision::Camera::pixel_width(), raw_subscriber_thread, fawkes::Thread::set_name(), fawkes::Thread::set_prepfin_conc_loop(), and vision_threads.
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Destructor.
Definition at line 104 of file acquisition_thread.cpp.
References firevision::Camera::close(), and vision_threads.
FvAcquisitionThread::AqtMode FvAcquisitionThread::aqtmode | ( | ) |
Get acquisition thread mode.
Definition at line 275 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.
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. |
Definition at line 178 of file acquisition_thread.cpp.
References raw_subscriber_thread.
Referenced by FvBaseThread::register_for_camera().
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Finalize the thread.
This method is executed just before the thread is canceled and destroyed. It is always preceeded by a call to prepare_finalize(). If this is not the case this is a failure. The condition can be checked with the boolean variable finalize_prepared.
This method is meant to be used in conjunction with aspects and to cover thread inter-dependencies. This routine MUST bring the thread into a safe state such that it may be canceled and destroyed afterwards. If there is any reason that this cannot happen make your prepare_finalize() reports so.
This method is called by the thread manager just before the thread is being cancelled. Here you can do whatever steps are necessary just before the thread is cancelled. Note that you thread is still running and might be in the middle of a loop, so it is not a good place to give up on all resources used. Mind segmentation faults that could happen. Protect the area with a mutex that you lock at the beginning of your loop and free in the end, and that you lock at the beginning of finalize and then never unlock. Also not that the finalization may be canceled afterwards. The next thing that happens is that either the thread is canceled and destroyed or that the finalization is canceled and the thread has to run again.
Finalize is called on a thread just before it is deleted. It is guaranteed to be called on a fully initialized thread (if no exception is thrown in init()) (this guarantee holds in the Fawkes framework).
The default implementation does nothing besides throwing an exception if prepare_finalize() has not been called.
Exception | thrown if prepare_finalize() has not been called. |
Reimplemented from fawkes::Thread.
Definition at line 137 of file acquisition_thread.cpp.
References fawkes::BlackBoardAspect::blackboard, fawkes::BlackBoard::close(), and fawkes::BlackBoard::unregister_listener().
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()
Definition at line 215 of file acquisition_thread.cpp.
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virtual |
Initialize the thread.
This method is meant to be used in conjunction with aspects. Some parts of the initialization may only happen after some aspect of the thread has been initialized. Implement the init method with these actions. It is guaranteed to be called just after all aspects have been initialized and only once in the lifetime of the thread. Throw an exception if any problem occurs and the thread should not run.
Just because your init() routine suceeds and everything looks fine for this thread does not automatically imply that it will run. If it belongs to a group of threads in a ThreadList and any of the other threads fail to initialize then no thread from this group is run and thus this thread will never run. In that situation finalize() is called for this very instance, prepare_finalize() however is not called.
Reimplemented from fawkes::Thread.
Definition at line 121 of file acquisition_thread.cpp.
References fawkes::BlackBoardInterfaceListener::bbil_add_message_interface(), fawkes::BlackBoardAspect::blackboard, fawkes::Logger::log_debug(), fawkes::LoggingAspect::logger, fawkes::Thread::name(), fawkes::BlackBoard::open_for_writing(), fawkes::BlackBoard::register_listener(), fawkes::SwitchInterface::set_enabled(), and fawkes::Interface::write().
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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 299 of file acquisition_thread.cpp.
References AqtContinuous, AqtCyclic, firevision::Camera::buffer(), firevision::Camera::capture(), firevision::Camera::capture_time(), firevision::Camera::dispose_buffer(), fawkes::Message::is_of_type(), fawkes::Logger::log_error(), fawkes::Logger::log_info(), fawkes::Logger::log_warn(), fawkes::LoggingAspect::logger, fawkes::Interface::msgq_empty(), fawkes::Interface::msgq_first(), fawkes::Interface::msgq_first_is(), fawkes::Interface::msgq_pop(), fawkes::Thread::name(), fawkes::Thread::set_cancel_state(), set_enabled(), fawkes::Message::type(), vision_threads, fawkes::WaitCondition::wait(), and FvAqtVisionThreads::wakeup_and_wait_cyclic_threads().
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inlineprotectedvirtual |
Stub to see name in backtrace for easier debugging.
Reimplemented from fawkes::Thread.
Definition at line 94 of file acquisition_thread.h.
References fawkes::Thread::run().
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()!
mode | new acquisition thread mode |
Definition at line 227 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.
enabled | true to enable acquisition thread, false to disable |
Definition at line 247 of file acquisition_thread.cpp.
References fawkes::SwitchInterface::set_enabled(), firevision::Camera::start(), firevision::Camera::stop(), fawkes::WaitCondition::wake_all(), and fawkes::Interface::write().
Referenced by loop().
void FvAcquisitionThread::set_vt_prepfin_hold | ( | bool | hold | ) |
Set prepfin hold status for vision threads.
hold | prepfin hold status |
Definition at line 286 of file acquisition_thread.cpp.
References fawkes::Logger::log_warn(), fawkes::LoggingAspect::logger, fawkes::Thread::name(), FvAqtVisionThreads::set_prepfin_hold(), and vision_threads.
fawkes::Thread* FvAcquisitionThread::raw_subscriber_thread |
Vision thread registered for raw camera access on this camera.
Definition at line 91 of file acquisition_thread.h.
Referenced by camera_instance(), and FvAcquisitionThread().
FvAqtVisionThreads* FvAcquisitionThread::vision_threads |
Vision threads assigned to this acquisition thread.
To be used only by the base thread.
Definition at line 88 of file acquisition_thread.h.
Referenced by FvAcquisitionThread(), loop(), FvBaseThread::register_for_camera(), set_vt_prepfin_hold(), and ~FvAcquisitionThread().