Fawkes API  Fawkes Development Version
PclViewerTransferThread Class Reference

PCL viewer transfer thread. More...

#include "transfer_thread.h"

Inheritance diagram for PclViewerTransferThread:

Public Member Functions

 PclViewerTransferThread ()
 Constructor. More...
 
 ~PclViewerTransferThread ()
 Destructor. More...
 
void loop ()
 Code to execute in the thread. More...
 
void lock_for_read ()
 Lock for reading. More...
 
void unlock ()
 Unlock. More...
 
void add_camera (std::string name, firevision::Camera *cam)
 Add a camera from which to pull images. More...
 
const unsigned char * buffer (std::string name)
 Get buffer for specified camera. More...
 
- Public Member Functions inherited from fawkes::Thread
virtual ~Thread ()
 Virtual destructor. More...
 
virtual void init ()
 Initialize the thread. More...
 
bool prepare_finalize ()
 Prepare finalization. More...
 
virtual bool prepare_finalize_user ()
 Prepare finalization user implementation. More...
 
virtual void finalize ()
 Finalize the thread. 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...
 

Additional Inherited Members

- 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...
 
- 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 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...
 
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...
 
- 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...
 

Detailed Description

PCL viewer transfer thread.

Especially for transmission over slow Wifi networks tranmission must be pushed to its own thread. It captures the frame and copies it to an internal buffer to anytime use.

Author
Tim Niemueller

Definition at line 36 of file transfer_thread.h.

Constructor & Destructor Documentation

◆ PclViewerTransferThread()

PclViewerTransferThread::PclViewerTransferThread ( )

Constructor.

Definition at line 43 of file transfer_thread.cpp.

◆ ~PclViewerTransferThread()

PclViewerTransferThread::~PclViewerTransferThread ( )

Destructor.

Definition at line 51 of file transfer_thread.cpp.

Member Function Documentation

◆ add_camera()

void PclViewerTransferThread::add_camera ( std::string  name,
firevision::Camera cam 
)

Add a camera from which to pull images.

Parameters
namesymbolic name, used to access buffers
camcamera to add

Definition at line 86 of file transfer_thread.cpp.

References firevision::Camera::colorspace(), fawkes::Thread::name(), firevision::Camera::pixel_height(), and firevision::Camera::pixel_width().

◆ buffer()

const unsigned char* PclViewerTransferThread::buffer ( std::string  name)
inline

Get buffer for specified camera.

Parameters
namethe name passed to add_camera.
Returns
buffer that contains a copy of the image

Definition at line 52 of file transfer_thread.h.

◆ lock_for_read()

void PclViewerTransferThread::lock_for_read ( )

Lock for reading.

Images will not be updated while the lock is held. Any number of readers can hold a read lock at the same time. Make sure that the thread does not starve.

Definition at line 67 of file transfer_thread.cpp.

References fawkes::ReadWriteLock::lock_for_read().

◆ loop()

void PclViewerTransferThread::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 98 of file transfer_thread.cpp.

References fawkes::ReadWriteLock::lock_for_write(), and fawkes::ReadWriteLock::unlock().

◆ unlock()

void PclViewerTransferThread::unlock ( )

Unlock.

Definition at line 75 of file transfer_thread.cpp.

References fawkes::ReadWriteLock::unlock().


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