Fawkes API  Fawkes Development Version
transfer_thread.cpp
00001 
00002 /***************************************************************************
00003  *  transfer_thread.cpp - OpenNI Visualization: network transfer thread
00004  *
00005  *  Created: Sat Apr 02 20:19:21 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 #include "transfer_thread.h"
00024 #include <core/threading/read_write_lock.h>
00025 #include <fvcams/camera.h>
00026 #include <fvutils/color/colorspaces.h>
00027 
00028 #include <cstdlib>
00029 #include <cstring>
00030 
00031 using namespace fawkes;
00032 using namespace firevision;
00033 
00034 /** @class PclViewerTransferThread "transfer_thread.h"
00035  * PCL viewer transfer thread.
00036  * Especially for transmission over slow Wifi networks tranmission
00037  * must be pushed to its own thread. It captures the frame and copies
00038  * it to an internal buffer to anytime use.
00039  * @author Tim Niemueller
00040  */
00041 
00042 /** Constructor. */
00043 PclViewerTransferThread::PclViewerTransferThread()
00044   : Thread("PclViewerTransferThread", Thread::OPMODE_CONTINUOUS)
00045 {
00046   __rwlock = new ReadWriteLock();
00047 }
00048 
00049 
00050 /** Destructor. */
00051 PclViewerTransferThread::~PclViewerTransferThread()
00052 {
00053   delete __rwlock;
00054   std::map<std::string, unsigned char *>::iterator c;
00055   for (c = __buffers.begin(); c != __buffers.end(); ++c) {
00056     free(c->second);
00057   }
00058 }
00059 
00060 
00061 /** Lock for reading.
00062  * Images will not be updated while the lock is held. Any number of
00063  * readers can hold a read lock at the same time. Make sure that the
00064  * thread does not starve.
00065  */
00066 void
00067 PclViewerTransferThread::lock_for_read()
00068 {
00069   __rwlock->lock_for_read();
00070 }
00071 
00072 
00073 /** Unlock. */
00074 void
00075 PclViewerTransferThread::unlock()
00076 {
00077   __rwlock->unlock();
00078 }
00079 
00080 
00081 /** Add a camera from which to pull images.
00082  * @param name symbolic name, used to access buffers
00083  * @param cam camera to add
00084  */
00085 void
00086 PclViewerTransferThread::add_camera(std::string name, firevision::Camera *cam)
00087 {
00088   __cams[name] = cam;
00089   __buffers[name] = malloc_buffer(cam->colorspace(), cam->pixel_width(),
00090                                   cam->pixel_height());
00091   __buffer_sizes[name] = colorspace_buffer_size(cam->colorspace(),
00092                                                 cam->pixel_width(),
00093                                                 cam->pixel_height());
00094 }
00095 
00096 
00097 void
00098 PclViewerTransferThread::loop()
00099 {
00100   std::map<std::string, firevision::Camera *>::iterator c;
00101   for (c = __cams.begin(); c != __cams.end(); ++c) {
00102     c->second->capture();
00103     __rwlock->lock_for_write();
00104     memcpy(__buffers[c->first], c->second->buffer(), __buffer_sizes[c->first]);
00105     __rwlock->unlock();
00106     c->second->dispose_buffer();
00107   }
00108 }