Fawkes API Fawkes Development Version
filter_thread.h
1
2/***************************************************************************
3 * filter_thread.h - Thread to filter laser data
4 *
5 * Created: Sun Mar 13 01:11:11 2011
6 * Copyright 2006-2011 Tim Niemueller [www.niemueller.de]
7 *
8 ****************************************************************************/
9
10/* This program is free software; you can redistribute it and/or modify
11 * it under the terms of the GNU General Public License as published by
12 * the Free Software Foundation; either version 2 of the License, or
13 * (at your option) any later version.
14 *
15 * This program is distributed in the hope that it will be useful,
16 * but WITHOUT ANY WARRANTY; without even the implied warranty of
17 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
18 * GNU Library General Public License for more details.
19 *
20 * Read the full text in the LICENSE.GPL file in the doc directory.
21 */
22
23#ifndef _PLUGINS_LASER_FILTER_FILTER_THREAD_H_
24#define _PLUGINS_LASER_FILTER_FILTER_THREAD_H_
25
26#include "filters/filter.h"
27
28#include <aspect/blackboard.h>
29#include <aspect/blocked_timing.h>
30#include <aspect/configurable.h>
31#include <aspect/logging.h>
32#include <core/threading/thread.h>
33#ifdef HAVE_TF
34# include <aspect/tf.h>
35#endif
36
37#include <list>
38#include <string>
39#include <vector>
40
41namespace fawkes {
42class Laser360Interface;
43class Laser720Interface;
44class Laser1080Interface;
45} // namespace fawkes
46
51#ifdef HAVE_TF
53#endif
55{
56public:
57 LaserFilterThread(std::string &cfg_name, std::string &cfg_prefix);
58
59 virtual void init();
60 virtual void finalize();
61 virtual void loop();
62
63 void wait_done();
64
65 void set_wait_threads(std::list<LaserFilterThread *> &threads);
66 void set_wait_barrier(fawkes::Barrier *barrier);
67
68private:
69 /// @cond INTERNALS
70 typedef struct
71 {
72 std::string id;
73 unsigned int size;
74 union {
78 } interface_typed;
79 fawkes::Interface *interface;
81 /// @endcond
82
83 void open_interfaces(std::string prefix,
84 std::vector<LaserInterface> & ifs,
85 std::vector<LaserDataFilter::Buffer *> &bufs,
86 bool writing);
87
88 LaserDataFilter *create_filter(std::string filter_name,
89 std::string filter_type,
90 std::string prefix,
91 unsigned int in_data_size,
92 std::vector<LaserDataFilter::Buffer *> &inbufs);
93
94 /** Stub to see name in backtrace for easier debugging. @see Thread::run() */
95protected:
96 virtual void
98 {
99 Thread::run();
100 }
101
102private:
103 std::vector<LaserInterface> in_;
104 std::vector<LaserInterface> out_;
105
106 std::vector<LaserDataFilter::Buffer *> in_bufs_;
107 std::vector<LaserDataFilter::Buffer *> out_bufs_;
108
109 LaserDataFilter *filter_;
110
111 std::string cfg_name_;
112 std::string cfg_prefix_;
113
114 std::list<LaserFilterThread *> wait_threads_;
115 bool wait_done_;
116 fawkes::Mutex * wait_mutex_;
117 fawkes::WaitCondition * wait_cond_;
118 fawkes::Barrier * wait_barrier_;
119};
120
121#endif
Laser data filter.
Definition: filter.h:33
Laser filter thread.
Definition: filter_thread.h:55
virtual void init()
Initialize the thread.
void set_wait_barrier(fawkes::Barrier *barrier)
Set wait barrier.
void set_wait_threads(std::list< LaserFilterThread * > &threads)
Set threads to wait for in loop.
virtual void loop()
Code to execute in the thread.
virtual void finalize()
Finalize the thread.
void wait_done()
Wait until thread is done.
LaserFilterThread(std::string &cfg_name, std::string &cfg_prefix)
Constructor.
virtual void run()
Stub to see name in backtrace for easier debugging.
Definition: filter_thread.h:97
A barrier is a synchronization tool which blocks until a given number of threads have reached the bar...
Definition: barrier.h:32
Thread aspect to access to BlackBoard.
Definition: blackboard.h:34
Thread aspect to use blocked timing.
Thread aspect to access configuration data.
Definition: configurable.h:33
Base class for all Fawkes BlackBoard interfaces.
Definition: interface.h:80
Laser1080Interface Fawkes BlackBoard Interface.
Laser360Interface Fawkes BlackBoard Interface.
Laser720Interface Fawkes BlackBoard Interface.
Thread aspect to log output.
Definition: logging.h:33
Mutex mutual exclusion lock.
Definition: mutex.h:33
Thread class encapsulation of pthreads.
Definition: thread.h:46
Thread aspect to access the transform system.
Definition: tf.h:39
Wait until a given condition holds.
Fawkes library namespace.