Fawkes API
Fawkes Development Version
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SrSave vision image processing pipeline. More...
#include "pipeline_thread.h"
Public Member Functions | |
FvSrSavePipelineThread () | |
Constructor. More... | |
virtual | ~FvSrSavePipelineThread () |
Destructor. More... | |
virtual void | init () |
Initialize the pipeline thread. More... | |
virtual void | finalize () |
Thread finalization. More... | |
virtual void | loop () |
A new image is retrieved from the camera and the classifier looks for a ball in the image. 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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VisionAspect (VisionThreadMode mode) | |
Constructor. More... | |
virtual | ~VisionAspect () |
Virtual empty Destructor. More... | |
void | init_VisionAspect (firevision::VisionMaster *vision_master) |
Set vision master. More... | |
VisionThreadMode | vision_thread_mode () |
Get the vision thread mode of this thread. More... | |
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ConfigurableAspect () | |
Constructor. More... | |
virtual | ~ConfigurableAspect () |
Virtual empty Destructor. More... | |
void | init_ConfigurableAspect (Configuration *config) |
Set the configuration It is guaranteed that this is called for a configurable thread before Thread::start() is called (when running regularly inside Fawkes). 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... | |
Additional Inherited Members | |
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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 | VisionThreadMode { CYCLIC, CONTINUOUS } |
The operation mode of this vision thread. More... | |
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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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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... | |
virtual void | run () |
Code to execute in the thread. 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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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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firevision::VisionMaster * | vision_master |
Vision master. More... | |
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Configuration * | config |
This is the Configuration member used to access the configuration. More... | |
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BlackBoard * | blackboard |
This is the BlackBoard instance you can use to interact with the BlackBoard. More... | |
SrSave vision image processing pipeline.
This thread implements an image processing pipeline that uses a colormodel and classifier to determine regions of interest (ROI) which contain a significant amount with "pixels of ball color". The best ROI is then filtered for edge detection. On the edges a circle shape detection is carried out to confirm the result and to get the required data to calculate the relative and global position of the ball.
Definition at line 37 of file pipeline_thread.h.
FvSrSavePipelineThread::FvSrSavePipelineThread | ( | ) |
Constructor.
Definition at line 46 of file pipeline_thread.cpp.
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Destructor.
Definition at line 54 of file pipeline_thread.cpp.
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Thread finalization.
Reimplemented from fawkes::Thread.
Definition at line 77 of file pipeline_thread.cpp.
References firevision::VisionMaster::unregister_thread(), and fawkes::VisionAspect::vision_master.
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Initialize the pipeline thread.
Camera is requested, config parameters are obtained from the config db, and other miscellaneous init stuff is done here.
Reimplemented from fawkes::Thread.
Definition at line 64 of file pipeline_thread.cpp.
References fawkes::Exception::append(), firevision::VisionMaster::register_for_raw_camera(), and fawkes::VisionAspect::vision_master.
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A new image is retrieved from the camera and the classifier looks for a ball in the image.
Reimplemented from fawkes::Thread.
Definition at line 85 of file pipeline_thread.cpp.
References firevision::Camera::buffer(), firevision::Camera::capture(), firevision::Camera::dispose_buffer(), fawkes::Logger::log_warn(), fawkes::LoggingAspect::logger, fawkes::Thread::name(), firevision::Camera::pixel_height(), and firevision::Camera::pixel_width().