Fawkes API  Fawkes Development Version
FvBaseThread Class Reference

FireVision base thread. More...

#include "base_thread.h"

Inheritance diagram for FvBaseThread:

Public Member Functions

 FvBaseThread ()
 Constructor. More...
 
virtual ~FvBaseThread ()
 Destructor. More...
 
virtual void init ()
 Initialize the thread. More...
 
virtual void loop ()
 Thread loop. More...
 
virtual void finalize ()
 Finalize the thread. More...
 
virtual firevision::VisionMastervision_master ()
 Get vision master. More...
 
virtual firevision::Cameraregister_for_camera (const char *camera_string, fawkes::Thread *thread, firevision::colorspace_t cspace=firevision::YUV422_PLANAR)
 Register thread for camera. More...
 
virtual firevision::Cameraregister_for_raw_camera (const char *camera_string, fawkes::Thread *thread)
 Register thread for camera. More...
 
virtual void unregister_thread (fawkes::Thread *thread)
 Unregister a thread. More...
 
virtual firevision::CameraControlacquire_camctrl (const char *cam_string)
 Retrieve a CameraControl for the specified camera string. More...
 
virtual void release_camctrl (firevision::CameraControl *cc)
 Release a camera control. More...
 
virtual bool thread_started (fawkes::Thread *thread) throw ()
 Thread started successfully. More...
 
virtual bool thread_init_failed (fawkes::Thread *thread) throw ()
 Thread initialization failed. 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::BlockedTimingAspect
 BlockedTimingAspect (WakeupHook wakeup_hook)
 Constructor. More...
 
virtual ~BlockedTimingAspect ()
 Virtual empty destructor. More...
 
WakeupHook blockedTimingAspectHook () const
 Get the wakeup hook. 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::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::VisionMasterAspect
 VisionMasterAspect (firevision::VisionMaster *master) __attribute__((nonnull))
 Constructor. More...
 
virtual ~VisionMasterAspect ()
 Virtual empty Destructor. More...
 
firevision::VisionMastervision_master ()
 Get vision master. More...
 
- Public Member Functions inherited from fawkes::ClockAspect
 ClockAspect ()
 Constructor. More...
 
virtual ~ClockAspect ()
 Virtual empty destructor. More...
 
void init_ClockAspect (Clock *clock)
 Set the clock. More...
 
- Public Member Functions inherited from fawkes::ThreadProducerAspect
 ThreadProducerAspect ()
 Constructor. More...
 
virtual ~ThreadProducerAspect ()
 Virtual empty destructor. More...
 
void init_ThreadProducerAspect (ThreadCollector *collector)
 Init thread producer aspect. More...
 
- Public Member Functions inherited from fawkes::ConfigurableAspect
 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...
 
- Public Member Functions inherited from fawkes::ThreadNotificationListener
virtual ~ThreadNotificationListener ()
 Virtual empty destructor. More...
 
- Public Member Functions inherited from firevision::VisionMaster
virtual ~VisionMaster ()
 Virtual empty destructor. More...
 
template<class CC >
CC * acquire_camctrl (const char *camera_string)
 Retrieve a typed camera control instance. More...
 
template<class CC >
CC * acquire_camctrl (const char *camera_string, CC *&cc)
 Retrieve a typed camera control instance. More...
 
template<class CC >
CC * register_for_raw_camera (const char *camera_string, fawkes::Thread *thread)
 Get typed raw camera. More...
 

Protected Member Functions

virtual void run ()
 Stub to see name in backtrace for easier debugging. More...
 
virtual firevision::CameraControlacquire_camctrl (const char *cam_string, const std::type_info &typeinf)
 Retrieve a CameraControl for the specified camera string and type info. 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...
 

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...
 
- Public Types inherited from fawkes::BlockedTimingAspect
enum  WakeupHook {
  WAKEUP_HOOK_PRE_LOOP, WAKEUP_HOOK_SENSOR_ACQUIRE, WAKEUP_HOOK_SENSOR_PREPARE, WAKEUP_HOOK_SENSOR_PROCESS,
  WAKEUP_HOOK_WORLDSTATE, WAKEUP_HOOK_THINK, WAKEUP_HOOK_SKILL, WAKEUP_HOOK_ACT,
  WAKEUP_HOOK_ACT_EXEC, WAKEUP_HOOK_POST_LOOP
}
 Type to define at which hook the thread is woken up. 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 Member Functions inherited from fawkes::BlockedTimingAspect
static const char * blocked_timing_hook_to_string (WakeupHook hook)
 Get string for wakeup hook. 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::ClockAspect
Clockclock
 By means of this member access to the clock is given. More...
 
- Protected Attributes inherited from fawkes::ThreadProducerAspect
ThreadCollectorthread_collector
 Thread collector. More...
 
- Protected Attributes inherited from fawkes::ConfigurableAspect
Configurationconfig
 This is the Configuration member used to access the configuration. More...
 

Detailed Description

FireVision base thread.

This implements the functionality of the FvBasePlugin.

Author
Tim Niemueller

Definition at line 46 of file base_thread.h.

Constructor & Destructor Documentation

◆ FvBaseThread()

FvBaseThread::FvBaseThread ( )

Constructor.

Definition at line 56 of file base_thread.cpp.

◆ ~FvBaseThread()

FvBaseThread::~FvBaseThread ( )
virtual

Destructor.

Definition at line 68 of file base_thread.cpp.

Member Function Documentation

◆ acquire_camctrl() [1/2]

CameraControl * FvBaseThread::acquire_camctrl ( const char *  cam_string)
virtual

Retrieve a CameraControl for the specified camera string.

This control (if available) can be used to control certain aspects of the Camera. The cam_string argument either is the string that has been used to register for a particular camera, or it is a string denoting a camera control by itself. In the former case the vision master will look if the camera has been registered, and then checks if the camera provides a camera control. If so the control is returned. Note that it might implement multiple different camera controls. If you want a specific camera control use one of the template methods to get a correctly typed and verified control. If no camera that matches the cam_string is found, the vision master will try to instantiate a new camera control using the cam_string as argument to the CameraControlFactory.

Parameters
cam_stringCamera argument string, see method description for details
Returns
a pointer to the requested CameraControl.
Exceptions
Exceptionno camera was found matching the cam_string and the factory could not instantiate a camera control with the given string.

Implements firevision::VisionMaster.

Definition at line 339 of file base_thread.cpp.

References firevision::CameraArgumentParser::cam_id(), firevision::CameraArgumentParser::cam_type(), and fawkes::LockMap< KeyType, ValueType, LessKey >::mutex().

◆ acquire_camctrl() [2/2]

CameraControl * FvBaseThread::acquire_camctrl ( const char *  cam_string,
const std::type_info &  typeinf 
)
protectedvirtual

Retrieve a CameraControl for the specified camera string and type info.

This utility method is used by the template methods to instantiate the cameras with a specified intended type.

Parameters
cam_stringCamera argument string, see method description for details
typeinftype info for intended camera control type
Returns
a pointer to the requested CameraControl.
Exceptions
Exceptionno camera was found matching the cam_string and the factory could not instantiate a camera control with the given string.

Implements firevision::VisionMaster.

Definition at line 355 of file base_thread.cpp.

References firevision::CameraArgumentParser::cam_id(), firevision::CameraArgumentParser::cam_type(), and fawkes::LockMap< KeyType, ValueType, LessKey >::mutex().

◆ finalize()

void FvBaseThread::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 85 of file base_thread.cpp.

References fawkes::LockMap< KeyType, ValueType, LessKey >::lock(), fawkes::LockList< Type >::lock(), fawkes::ThreadCollector::remove(), fawkes::ThreadProducerAspect::thread_collector, fawkes::LockMap< KeyType, ValueType, LessKey >::unlock(), and fawkes::LockList< Type >::unlock().

◆ init()

void FvBaseThread::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 75 of file base_thread.cpp.

◆ loop()

◆ register_for_camera()

Camera * FvBaseThread::register_for_camera ( const char *  camera_string,
fawkes::Thread thread,
firevision::colorspace_t  cspace = firevision::YUV422_PLANAR 
)
virtual

Register thread for camera.

This will register a relation between the given thread and the camera identified by the camera string. If the requested camera has not been opened before this is done and the camera is started. If that fails for whatever reason an exception is thrown. In that case the thread is not registered with the vision master. If the camera is available the thread is registered with the vision master. From then on it is woken up whenever new image data is available and it will wait for the thread to finished computation on that very image. It is a critical error that can not be recovered if the thread fails for whatever reason. If there is a critical error condition in the vision thread it must not stop execution but just the computation.

Parameters
camera_stringcamera that can be used by CameraFactory to open a camera.
threadthread to register for this camera
cspacethe colorspace in which the images should be provided for the camera. Note that using images in different formats at the same time can cause a severe performance penalty. The default is to produce YUV422_PLANAR images, which is used in the FireVision framework as main image format.
Returns
a pointer to the requested camera. Note that this may not be of the C++ type that you may expect for the requested camera, but it may have layers of indirection. For example when opening a USB camera you could get a shared memory camera to share the camera (image) with multiple threads. Note that using CS_UNKNOWN shall have the similar result as using register_for_raw_camera().

Implements firevision::VisionMaster.

Definition at line 230 of file base_thread.cpp.

References fawkes::ThreadCollector::add(), fawkes::Thread::add_notification_listener(), FvAqtVisionThreads::add_waiting_thread(), fawkes::Exception::append(), firevision::CameraArgumentParser::cam_id(), firevision::CameraArgumentParser::cam_type(), FvAcquisitionThread::camera_instance(), fawkes::ClockAspect::clock, fawkes::LockMap< KeyType, ValueType, LessKey >::lock(), fawkes::Logger::log_info(), fawkes::LoggingAspect::logger, fawkes::Thread::name(), firevision::Camera::open(), fawkes::ThreadProducerAspect::thread_collector, fawkes::LockMap< KeyType, ValueType, LessKey >::unlock(), fawkes::VisionAspect::vision_thread_mode(), and FvAcquisitionThread::vision_threads.

Referenced by register_for_raw_camera().

◆ register_for_raw_camera()

Camera * FvBaseThread::register_for_raw_camera ( const char *  camera_string,
fawkes::Thread thread 
)
virtual

Register thread for camera.

This will register a relation between the given thread and the camera identified by the camera string similar to register_for_camera(). However, unlike register_for_camera() this method will provide access to the raw camera implementation, without possibly proxies. Once you gathered the camera, you can dynamically cast it to the expected camera type (or use the template method instead. Raw access to a camera is only granted for a single thread. Note that you may not call capture() or dispose() on the camera, this will still be done by the vision master, as the camera may be used by other threads that registered for the camera with register_for_camera().

Parameters
camera_stringcamera that can be used by CameraFactory to open a camera.
threadthread to register for this camera
Returns
raw camera instance, which can by dynamically casted to the expected type.

Implements firevision::VisionMaster.

Definition at line 304 of file base_thread.cpp.

References firevision::CameraArgumentParser::cam_id(), firevision::CameraArgumentParser::cam_type(), fawkes::LockMap< KeyType, ValueType, LessKey >::lock(), fawkes::LockList< Type >::lock(), register_for_camera(), fawkes::LockMap< KeyType, ValueType, LessKey >::unlock(), and fawkes::LockList< Type >::unlock().

◆ release_camctrl()

void FvBaseThread::release_camctrl ( firevision::CameraControl cc)
virtual

Release a camera control.

This has to be called when you are done with the camera control. This will release the control and it is no longer valid. The vision master might collect the memory that has been used for the control.

Parameters
cccamera control instance to release

Implements firevision::VisionMaster.

Definition at line 372 of file base_thread.cpp.

References fawkes::Barrier::count(), fawkes::LockList< Type >::lock(), and fawkes::LockList< Type >::unlock().

◆ run()

virtual void FvBaseThread::run ( )
inlineprotectedvirtual

Stub to see name in backtrace for easier debugging.

See also
Thread::run()

Reimplemented from fawkes::Thread.

Definition at line 82 of file base_thread.h.

References fawkes::Thread::run().

◆ thread_init_failed()

bool FvBaseThread::thread_init_failed ( fawkes::Thread thread)
throw (
)
virtual

Thread initialization failed.

This method is called by ThreadList if one of the threads in the list failed to initialize. This is not necessarily the thread that you registered the notification for. However, the argument is always the thread that you registered for, no matter which thread in the list failed.

Parameters
threadthread that you registered for
Returns
true to stay registered for further thread notifications, false to unregister.

Implements fawkes::ThreadNotificationListener.

Definition at line 460 of file base_thread.cpp.

References fawkes::LockMap< KeyType, ValueType, LessKey >::lock(), and fawkes::LockMap< KeyType, ValueType, LessKey >::unlock().

◆ thread_started()

bool FvBaseThread::thread_started ( fawkes::Thread thread)
throw (
)
virtual

Thread started successfully.

This is called by the thread itself when the thread started successfully.

Parameters
threadthread that started successfully
Returns
true to stay registered for further thread notifications, false to unregister.

Implements fawkes::ThreadNotificationListener.

Definition at line 443 of file base_thread.cpp.

References fawkes::LockMap< KeyType, ValueType, LessKey >::lock(), and fawkes::LockMap< KeyType, ValueType, LessKey >::unlock().

◆ unregister_thread()

void FvBaseThread::unregister_thread ( fawkes::Thread thread)
virtual

Unregister a thread.

The thread is unregistered and it is removed from the internal structures. The thread is no longer called for new image material that can be processed.

If the unregistered thread was the last thread accessing the camera, it shall be held open for a specified time, such that if the thread is just being restarted the camera does not have to be re-opened. The time to wait is defined by the implementation.

Parameters
threadthread to unregister

Implements firevision::VisionMaster.

Definition at line 399 of file base_thread.cpp.

References FvAcquisitionThread::AqtContinuous, fawkes::LockMap< KeyType, ValueType, LessKey >::lock(), fawkes::Logger::log_info(), fawkes::LoggingAspect::logger, fawkes::Thread::name(), and fawkes::LockMap< KeyType, ValueType, LessKey >::unlock().

◆ vision_master()

VisionMaster * FvBaseThread::vision_master ( )
virtual

Get vision master.

Returns
vision master

Definition at line 223 of file base_thread.cpp.


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