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/vision.h>
00031 
00032 namespace fawkes {
00033   class TimeTracker;
00034 }
00035 namespace firevision {
00036   class Camera;
00037   class SharedMemoryImageBuffer;
00038   class SeqWriter;
00039   class ColorModelLookupTable;
00040 }
00041 
00042 class FvRetrieverThread
00043 : public fawkes::Thread,
00044   public fawkes::ConfigurableAspect,
00045   public fawkes::LoggingAspect,
00046   public fawkes::VisionAspect
00047 {
00048  public:
00049   FvRetrieverThread(const char *camera_string, const char *id);
00050   virtual ~FvRetrieverThread();
00051 
00052   virtual void init();
00053   virtual void finalize();
00054   virtual void loop();
00055 
00056  /** Stub to see name in backtrace for easier debugging. @see Thread::run() */
00057  protected: virtual void run() { Thread::run(); }
00058 
00059  private:
00060   char *__id;
00061   char *__camera_string;
00062 
00063   firevision::Camera *cam;
00064   firevision::SharedMemoryImageBuffer *shm;
00065   firevision::SeqWriter *seq_writer;
00066   fawkes::TimeTracker *__tt;
00067   unsigned int __loop_count;
00068   unsigned int __ttc_capture;
00069   unsigned int __ttc_memcpy;
00070   unsigned int __ttc_dispose;
00071   bool __cam_has_timestamp_support;
00072 
00073   firevision::ColorModelLookupTable *__cm;
00074 };
00075 
00076 
00077 #endif

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