Fawkes API  Fawkes Development Version
FvAcquisitionThread Class Reference

FireVision base application acquisition thread. More...

#include "acquisition_thread.h"

Inheritance diagram for FvAcquisitionThread:

Public Types

enum  AqtMode { AqtCyclic, AqtContinuous }
 Acquisition thread mode. More...
 
- Public Types inherited from fawkes::Thread
enum  OpMode { OPMODE_CONTINUOUS, OPMODE_WAITFORWAKEUP }
 Thread operation mode. More...
 
enum  CancelState { CANCEL_ENABLED, CANCEL_DISABLED }
 Cancel state. More...
 
- Public Types inherited from fawkes::BlackBoardInterfaceListener
enum  QueueEntryType { DATA = 0, MESSAGES = 1, READER = 2, WRITER = 3 }
 Queue entry type. More...
 
typedef std::list< QueueEntryInterfaceQueue
 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::Cameracamera_instance (firevision::colorspace_t cspace, bool deep_copy)
 Get a camera instance. More...
 
firevision::Cameraget_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...
 
- Public Member Functions inherited from fawkes::Thread
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...
 
- Public Member Functions inherited from fawkes::LoggingAspect
 LoggingAspect ()
 Constructor. More...
 
virtual ~LoggingAspect ()
 Virtual empty Destructor. More...
 
void init_LoggingAspect (Logger *logger)
 Set the logger. More...
 
- Public Member Functions inherited from fawkes::Aspect
const std::list< const char * > & get_aspects () const
 Get list of aspect names attached to a aspected thread. More...
 
- Public Member Functions inherited from fawkes::BlackBoardAspect
 BlackBoardAspect (const char *owner=NULL)
 Constructor. More...
 
virtual ~BlackBoardAspect ()
 Virtual empty destructor. More...
 
void init_BlackBoardAspect (BlackBoard *bb)
 Init BlackBoard aspect. More...
 
- Public Member Functions inherited from fawkes::BlackBoardInterfaceListener
 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

FvAqtVisionThreadsvision_threads
 Vision threads assigned to this acquisition thread. More...
 
fawkes::Threadraw_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...
 
- Protected Member Functions inherited from fawkes::Thread
 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...
 
- Protected Member Functions inherited from fawkes::Aspect
void add_aspect (const char *name)
 Add an aspect to a thread. More...
 
- Protected Member Functions inherited from fawkes::BlackBoardInterfaceListener
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...
 
Interfacebbil_data_interface (const char *iuid) throw ()
 Get interface instance for given UID. More...
 
Interfacebbil_message_interface (const char *iuid) throw ()
 Get interface instance for given UID. More...
 
Interfacebbil_reader_interface (const char *iuid) throw ()
 Get interface instance for given UID. More...
 
Interfacebbil_writer_interface (const char *iuid) throw ()
 Get interface instance for given UID. More...
 

Additional Inherited Members

- Static Public Member Functions inherited from fawkes::Thread
static Threadcurrent_thread ()
 Get the Thread instance of the currently running thread. More...
 
static Threadcurrent_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...
 
- Static Public Attributes inherited from fawkes::Thread
static const unsigned int FLAG_BAD = 0x00000001
 Standard thread flag: "thread is bad". More...
 
- Protected Attributes inherited from fawkes::Thread
bool finalize_prepared
 True if prepare_finalize() has been called and was not stopped with a cancel_finalize(), false otherwise. More...
 
Mutexloop_mutex
 Mutex that is used to protect a call to loop(). More...
 
Mutexloopinterrupt_antistarve_mutex
 Mutex to avoid starvation when trying to lock loop_mutex. More...
 
- Protected Attributes inherited from fawkes::LoggingAspect
Loggerlogger
 This is the Logger member used to access the logger. More...
 
- Protected Attributes inherited from fawkes::BlackBoardAspect
BlackBoardblackboard
 This is the BlackBoard instance you can use to interact with the BlackBoard. More...
 

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 53 of file acquisition_thread.h.

Member Enumeration Documentation

◆ AqtMode

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 61 of file acquisition_thread.h.

Constructor & Destructor Documentation

◆ FvAcquisitionThread()

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

Constructor.

Parameters
loggerlogger
idid to be used for the shared memory segment and to announce changes to the base thread
cameracamera to manage
clockclock 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.

◆ ~FvAcquisitionThread()

FvAcquisitionThread::~FvAcquisitionThread ( )
virtual

Destructor.

Definition at line 104 of file acquisition_thread.cpp.

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

Member Function Documentation

◆ aqtmode()

FvAcquisitionThread::AqtMode FvAcquisitionThread::aqtmode ( )

Get acquisition thread mode.

Returns
acquisition thread mode.

Definition at line 275 of file acquisition_thread.cpp.

◆ camera_instance()

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

Definition at line 178 of file acquisition_thread.cpp.

References raw_subscriber_thread.

Referenced by FvBaseThread::register_for_camera().

◆ finalize()

void FvAcquisitionThread::finalize ( )
virtual

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.

Exceptions
Exceptionthrown if prepare_finalize() has not been called.
See also
prepare_finalize()
cancel_finalize()

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().

◆ get_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 215 of file acquisition_thread.cpp.

◆ init()

void FvAcquisitionThread::init ( )
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.

See also
Fawkes Thread Aspects

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().

◆ loop()

◆ run()

virtual void FvAcquisitionThread::run ( )
inlineprotectedvirtual

Stub to see name in backtrace for easier debugging.

See also
Thread::run()

Reimplemented from fawkes::Thread.

Definition at line 94 of file acquisition_thread.h.

References fawkes::Thread::run().

◆ set_aqtmode()

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
modenew acquisition thread mode

Definition at line 227 of file acquisition_thread.cpp.

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

◆ set_enabled()

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
enabledtrue 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().

◆ set_vt_prepfin_hold()

void FvAcquisitionThread::set_vt_prepfin_hold ( bool  hold)

Set prepfin hold status for vision threads.

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

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.

Member Data Documentation

◆ raw_subscriber_thread

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().

◆ vision_threads

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().


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