Fawkes API  Fawkes Development Version
transfer_thread.h
00001 
00002 /***************************************************************************
00003  *  transfer_thread.h - OpenNI Visualization: network transfer thread
00004  *
00005  *  Created: Sat Apr 02 20:00:50 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 <core/threading/thread.h>
00024 
00025 #include <map>
00026 #include <string>
00027 
00028 namespace fawkes {
00029   class ReadWriteLock;
00030 }
00031 
00032 namespace firevision {
00033   class Camera;
00034 }
00035 
00036 class PclViewerTransferThread : public fawkes::Thread
00037 {
00038  public:
00039   PclViewerTransferThread();
00040   ~PclViewerTransferThread();
00041 
00042   void loop();
00043 
00044   void lock_for_read();
00045   void unlock();
00046   void add_camera(std::string name, firevision::Camera *cam);
00047 
00048   /** Get buffer for specified camera.
00049    * @param name the name passed to add_camera.
00050    * @return buffer that contains a copy of the image
00051    */
00052   const unsigned char *  buffer(std::string name)
00053   { return __buffers[name]; }
00054 
00055  private:
00056   std::map<std::string, firevision::Camera *> __cams;
00057   std::map<std::string, unsigned char *> __buffers;
00058   std::map<std::string, size_t> __buffer_sizes;
00059   fawkes::ReadWriteLock  *__rwlock;
00060 };