Fawkes API
Fawkes Development Version
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00001 00002 /*************************************************************************** 00003 * context_thread.h - OpenNI context providing thread 00004 * 00005 * Created: Sat Feb 26 15:23:16 2011 00006 * Copyright 2006-2011 Tim Niemueller [www.niemueller.de] 00007 * 00008 ****************************************************************************/ 00009 00010 /* This program is free software; you can redistribute it and/or modify 00011 * it under the terms of the GNU General Public License as published by 00012 * the Free Software Foundation; either version 2 of the License, or 00013 * (at your option) any later version. 00014 * 00015 * This program is distributed in the hope that it will be useful, 00016 * but WITHOUT ANY WARRANTY; without even the implied warranty of 00017 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00018 * GNU Library General Public License for more details. 00019 * 00020 * Read the full text in the LICENSE.GPL file in the doc directory. 00021 */ 00022 00023 #ifndef __PLUGINS_OPENNI_CONTEXT_THREAD_H_ 00024 #define __PLUGINS_OPENNI_CONTEXT_THREAD_H_ 00025 00026 #include <core/threading/thread.h> 00027 #include <core/utils/lockptr.h> 00028 #include <aspect/logging.h> 00029 #include <aspect/configurable.h> 00030 #include <aspect/clock.h> 00031 #include <aspect/blocked_timing.h> 00032 #include <aspect/aspect_provider.h> 00033 #include <plugins/openni/aspect/openni_inifin.h> 00034 #include <utils/time/time.h> 00035 00036 #include <sys/types.h> 00037 #include <map> 00038 #include <string> 00039 00040 namespace xn { 00041 class Context; 00042 class Device; 00043 } 00044 00045 class OpenNiContextThread 00046 : public fawkes::Thread, 00047 public fawkes::BlockedTimingAspect, 00048 public fawkes::LoggingAspect, 00049 public fawkes::ConfigurableAspect, 00050 public fawkes::ClockAspect, 00051 public fawkes::AspectProviderAspect 00052 { 00053 public: 00054 OpenNiContextThread(); 00055 virtual ~OpenNiContextThread(); 00056 00057 virtual void init(); 00058 virtual void loop(); 00059 virtual void finalize(); 00060 00061 private: 00062 void print_nodes(); 00063 void verify_active(); 00064 void start_sensor_server(); 00065 void stop_sensor_server(); 00066 00067 /** Stub to see name in backtrace for easier debugging. @see Thread::run() */ 00068 protected: virtual void run() { Thread::run(); } 00069 00070 private: 00071 fawkes::LockPtr<xn::Context> __openni; 00072 fawkes::OpenNiAspectIniFin __openni_aspect_inifin; 00073 00074 bool __cfg_run_sensor_server; 00075 std::string __cfg_sensor_bin; 00076 pid_t __sensor_server_pid; 00077 xn::Device *__device; 00078 00079 int __last_refcount; 00080 00081 fawkes::Time __check_last; 00082 fawkes::Time __check_now; 00083 00084 unsigned int __device_no_data_loops; 00085 00086 std::map<std::string, unsigned int> __dead_loops; 00087 }; 00088 00089 #endif