FireVision base thread. More...
#include "base_thread.h"
Public Member Functions | |
FvBaseThread () | |
Constructor. | |
virtual | ~FvBaseThread () |
Destructor. | |
virtual void | init () |
virtual void | loop () |
Thread loop. | |
virtual void | finalize () |
virtual firevision::VisionMaster * | vision_master () |
Get vision master. | |
virtual firevision::Camera * | register_for_camera (const char *camera_string, fawkes::Thread *thread, firevision::colorspace_t cspace=firevision::YUV422_PLANAR) |
Register thread for camera. | |
virtual firevision::Camera * | register_for_raw_camera (const char *camera_string, fawkes::Thread *thread) |
Register thread for camera. | |
virtual void | unregister_thread (fawkes::Thread *thread) |
Unregister a thread. | |
virtual firevision::CameraControl * | acquire_camctrl (const char *cam_string) |
Retrieve a CameraControl for the specified camera string. | |
virtual void | release_camctrl (firevision::CameraControl *cc) |
Release a camera control. | |
virtual bool | thread_started (fawkes::Thread *thread) throw () |
virtual bool | thread_init_failed (fawkes::Thread *thread) throw () |
Protected Member Functions | |
virtual void | run () |
Stub to see name in backtrace for easier debugging. | |
virtual firevision::CameraControl * | acquire_camctrl (const char *cam_string, const std::type_info &typeinf) |
Retrieve a CameraControl for the specified camera string and type info. |
FireVision base thread.
This implements the functionality of the FvBasePlugin.
Definition at line 46 of file base_thread.h.
FvBaseThread::FvBaseThread | ( | ) |
Constructor.
Definition at line 56 of file base_thread.cpp.
FvBaseThread::~FvBaseThread | ( | ) | [virtual] |
Destructor.
Definition at line 68 of file base_thread.cpp.
CameraControl * FvBaseThread::acquire_camctrl | ( | const char * | cam_string | ) | [virtual] |
Retrieve a CameraControl for the specified camera string.
This control (if available) can be used to control certain aspects of the Camera. The cam_string
argument either is the string that has been used to register for a particular camera, or it is a string denoting a camera control by itself. In the former case the vision master will look if the camera has been registered, and then checks if the camera provides a camera control. If so the control is returned. Note that it might implement multiple different camera controls. If you want a specific camera control use one of the template methods to get a correctly typed and verified control. If no camera that matches the cam_string
is found, the vision master will try to instantiate a new camera control using the cam_string
as argument to the CameraControlFactory.
cam_string | Camera argument string, see method description for details |
Exception | no camera was found matching the cam_string and the factory could not instantiate a camera control with the given string. |
Implements firevision::VisionMaster.
Definition at line 330 of file base_thread.cpp.
References firevision::CameraArgumentParser::cam_id(), firevision::CameraArgumentParser::cam_type(), and fawkes::LockMap< KeyType, ValueType, LessKey >::mutex().
CameraControl * FvBaseThread::acquire_camctrl | ( | const char * | cam_string, | |
const std::type_info & | typeinf | |||
) | [protected, virtual] |
Retrieve a CameraControl for the specified camera string and type info.
This utility method is used by the template methods to instantiate the cameras with a specified intended type.
cam_string | Camera argument string, see method description for details | |
typeinf | type info for intended camera control type |
Exception | no camera was found matching the cam_string and the factory could not instantiate a camera control with the given string. |
Implements firevision::VisionMaster.
Definition at line 346 of file base_thread.cpp.
References firevision::CameraArgumentParser::cam_id(), firevision::CameraArgumentParser::cam_type(), and fawkes::LockMap< KeyType, ValueType, LessKey >::mutex().
void FvBaseThread::loop | ( | ) | [virtual] |
Thread loop.
Definition at line 106 of file base_thread.cpp.
References FvAcquisitionThread::AqtContinuous, FvAcquisitionThread::AqtCyclic, fawkes::LockMap< KeyType, ValueType, LessKey >::lock(), fawkes::Logger::log_info(), fawkes::Logger::log_warn(), fawkes::LoggingAspect::logger, fawkes::Thread::name(), fawkes::ThreadCollector::remove(), fawkes::ThreadProducerAspect::thread_collector, fawkes::LockMap< KeyType, ValueType, LessKey >::unlock(), and fawkes::Barrier::wait().
Camera * FvBaseThread::register_for_camera | ( | const char * | camera_string, | |
fawkes::Thread * | thread, | |||
firevision::colorspace_t | cspace = firevision::YUV422_PLANAR | |||
) | [virtual] |
Register thread for camera.
This will register a relation between the given thread and the camera identified by the camera string. If the requested camera has not been opened before this is done and the camera is started. If that fails for whatever reason an exception is thrown. In that case the thread is not registered with the vision master. If the camera is available the thread is registered with the vision master. From then on it is woken up whenever new image data is available and it will wait for the thread to finished computation on that very image. It is a critical error that can not be recovered if the thread fails for whatever reason. If there is a critical error condition in the vision thread it must not stop execution but just the computation.
camera_string | camera that can be used by CameraFactory to open a camera. | |
thread | thread to register for this camera | |
cspace | the colorspace in which the images should be provided for the camera. Note that using images in different formats at the same time can cause a severe performance penalty. The default is to produce YUV422_PLANAR images, which is used in the FireVision framework as main image format. |
Implements firevision::VisionMaster.
Definition at line 220 of file base_thread.cpp.
References fawkes::ThreadCollector::add(), fawkes::Thread::add_notification_listener(), FvAqtVisionThreads::add_waiting_thread(), fawkes::Exception::append(), firevision::CameraArgumentParser::cam_id(), firevision::CameraArgumentParser::cam_type(), FvAcquisitionThread::camera_instance(), fawkes::ClockAspect::clock, fawkes::LockMap< KeyType, ValueType, LessKey >::lock(), fawkes::Logger::log_info(), fawkes::LoggingAspect::logger, fawkes::Thread::name(), firevision::Camera::open(), firevision::Camera::start(), fawkes::ThreadProducerAspect::thread_collector, fawkes::LockMap< KeyType, ValueType, LessKey >::unlock(), fawkes::VisionAspect::vision_thread_mode(), and FvAcquisitionThread::vision_threads.
Referenced by register_for_raw_camera().
Camera * FvBaseThread::register_for_raw_camera | ( | const char * | camera_string, | |
fawkes::Thread * | thread | |||
) | [virtual] |
Register thread for camera.
This will register a relation between the given thread and the camera identified by the camera string similar to register_for_camera(). However, unlike register_for_camera() this method will provide access to the raw camera implementation, without possibly proxies. Once you gathered the camera, you can dynamically cast it to the expected camera type (or use the template method instead. Raw access to a camera is only granted for a single thread. Note that you may not call capture() or dispose() on the camera, this will still be done by the vision master, as the camera may be used by other threads that registered for the camera with register_for_camera().
camera_string | camera that can be used by CameraFactory to open a camera. | |
thread | thread to register for this camera |
Implements firevision::VisionMaster.
Definition at line 295 of file base_thread.cpp.
References firevision::CameraArgumentParser::cam_id(), firevision::CameraArgumentParser::cam_type(), fawkes::LockMap< KeyType, ValueType, LessKey >::lock(), register_for_camera(), and fawkes::LockMap< KeyType, ValueType, LessKey >::unlock().
void FvBaseThread::release_camctrl | ( | firevision::CameraControl * | cc | ) | [virtual] |
Release a camera control.
This has to be called when you are done with the camera control. This will release the control and it is no longer valid. The vision master might collect the memory that has been used for the control.
cc | camera control instance to release |
Implements firevision::VisionMaster.
Definition at line 363 of file base_thread.cpp.
References fawkes::LockList< Type >::lock(), and fawkes::LockList< Type >::unlock().
virtual void FvBaseThread::run | ( | ) | [inline, protected, virtual] |
Stub to see name in backtrace for easier debugging.
Definition at line 82 of file base_thread.h.
void FvBaseThread::unregister_thread | ( | fawkes::Thread * | thread | ) | [virtual] |
Unregister a thread.
The thread is unregistered and it is removed from the internal structures. The thread is no longer called for new image material that can be processed.
If the unregistered thread was the last thread accessing the camera, it shall be held open for a specified time, such that if the thread is just being restarted the camera does not have to be re-opened. The time to wait is defined by the implementation.
thread | thread to unregister |
Implements firevision::VisionMaster.
Definition at line 390 of file base_thread.cpp.
References FvAcquisitionThread::AqtContinuous, fawkes::LockMap< KeyType, ValueType, LessKey >::lock(), fawkes::Logger::log_info(), fawkes::LoggingAspect::logger, fawkes::Thread::name(), and fawkes::LockMap< KeyType, ValueType, LessKey >::unlock().
VisionMaster * FvBaseThread::vision_master | ( | ) | [virtual] |