Fawkes API  Fawkes Development Version
retriever_thread.h
00001 
00002 /***************************************************************************
00003  *  retriever_thread.h - FireVision Retriever Thread
00004  *
00005  *  Created: Tue Jun 26 17:37:38 2007
00006  *  Copyright  2006-2007  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 __FIREVISION_APPS_RETRIEVER_RETRIEVER_THREAD_H_
00024 #define __FIREVISION_APPS_RETRIEVER_RETRIEVER_THREAD_H_
00025 
00026 #include <core/threading/thread.h>
00027 
00028 #include <aspect/configurable.h>
00029 #include <aspect/logging.h>
00030 #include <aspect/clock.h>
00031 #include <aspect/vision.h>
00032 
00033 #include <string>
00034 
00035 namespace fawkes {
00036   class TimeTracker;
00037 }
00038 namespace firevision {
00039   class Camera;
00040   class SharedMemoryImageBuffer;
00041   class SeqWriter;
00042   class ColorModelLookupTable;
00043 }
00044 
00045 class FvRetrieverThread
00046 : public fawkes::Thread,
00047   public fawkes::ConfigurableAspect,
00048   public fawkes::LoggingAspect,
00049   public fawkes::VisionAspect,
00050   public fawkes::ClockAspect
00051 {
00052  public:
00053   FvRetrieverThread(std::string camera_string, std::string cfg_name, std::string cfg_prefix);
00054   virtual ~FvRetrieverThread();
00055 
00056   virtual void init();
00057   virtual void finalize();
00058   virtual void loop();
00059 
00060  /** Stub to see name in backtrace for easier debugging. @see Thread::run() */
00061  protected: virtual void run() { Thread::run(); }
00062 
00063  private:
00064   std::string cfg_name_;
00065   std::string cfg_prefix_;
00066   std::string camera_string_;
00067   fawkes::Time *cap_time_;
00068 
00069   firevision::Camera *cam;
00070   firevision::SharedMemoryImageBuffer *shm;
00071   firevision::SeqWriter *seq_writer;
00072   fawkes::TimeTracker *__tt;
00073   unsigned int __loop_count;
00074   unsigned int __ttc_capture;
00075   unsigned int __ttc_memcpy;
00076   unsigned int __ttc_dispose;
00077   bool __cam_has_timestamp_support;
00078 
00079   firevision::ColorModelLookupTable *__cm;
00080 };
00081 
00082 
00083 #endif