The basic VisAO framegrabber. More...

#include <framegrabber.h>

Inheritance diagram for VisAO::framegrabber< dataT >:

Public Member Functions
	framegrabber (int argc, char **argv) throw (AOException)

	framegrabber (std::string, const std::string &conffile) throw (AOException)

virtual int	Run ()
	Main loop, normally won't need to be overridden.

virtual int	start_framegrabber ()
	Override this: it is where your framegrabber should do all its work. Check for !STOP_FRAMEGRABBER and !TimeToDie.

virtual int	stop_framegrabber ()
	Override this: framegrabber clean up.

int	postGetImage ()
	Call this immediately after getting each frame. updates frameNo and saves the init file.

int	send_ping ()
	Sends a ping to the waiting process (usuallly a framewriter). More...

int	copyto_sharedim_short (unsigned char *im)
	Copies the image data to shared memory, as shorts.

int	copyto_sharedim_short_rotated (unsigned char *im)
	Copies the image data to shared memory, as shorts, rotated by 90 degrees.

int	copyto_sharedim_short_deintlv_rotated (unsigned char *im)
	Copies the image to data to shared memory, as shorts, rotated by 90 degrees, with DALSA 2 channel de-interleaving.

std::string	local_command (std::string com)
	Called by __local_command after control state logic. More...

std::string	script_command (std::string com)
	Called by __script_command after control state logic. More...

std::string	auto_command (std::string com, char *seqmsg)
	Processing for auto commands - to be overriden. More...

std::string	common_command (std::string com, int cmode)

Public Member Functions inherited from VisAO::VisAOApp_standalone
	VisAOApp_standalone () throw (AOException)
	Default constructor.

	VisAOApp_standalone (string name, int id, int logLevel=Logger::LOG_LEV_INFO) throw (AOException)
	Complicated constructor.

void	set_conffile (std::string name) throw (AOException)

	VisAOApp_standalone (std::string name, const std::string &conffile) throw (AOException)
	Config file constructor.

void	set_conffile (std::string name, const std::string &conffile) throw (AOException)
	For use if default constructed.

	VisAOApp_standalone (int argc, char **argv) throw (AOException)
	Command line constructor.

void	usage ()

virtual std::string	get_app_name ()
	Get the application name.

void	log_msg (int LogLevel, std::string lmsg)
	Report an error. Also calls log_msg. Overloaded from VisAOApp_base. More...

virtual int	Exec ()
	Installs the term and XXXX signal handlers, and calls Run(). More...

void	signal_catcher ()
	Signal loop, normally won't need to be overridden. More...

virtual int	start_signal_catcher (bool inherit_sched=true)
	Starts the signal catching loop. More...

virtual int	install_sig_mainthread_catcher ()
	Install the SIG_MAINTHREAD signal catcher.

virtual int	block_signal (int signum)
	Sets the signal mask to block signal signum.

virtual int	block_sigio ()
	Sets the signal mask to block SIGIO and RTSIGIO.

virtual int	kill_me ()
	Handle a timetodie condition upon exiting the signal catcher thread (e.g. tell main thread it is about to die) More...

Public Member Functions inherited from VisAO::VisAOApp_base
	VisAOApp_base ()
	Default constructor.

virtual	~VisAOApp_base ()
	Virtual destructor.

int	set_euid_called ()
	Changes the user id of the process to euid_called.

int	set_euid_real ()
	Changes the user id fo the process to the real user id.

int	set_RT_priority (int prio)
	Set the real-time priority of the current process. More...

int	get_RT_priority ()
	Get the real-time priority of the current process.

int	set_app_name (std::string an)
	Set the application name.

virtual int	setup_baseApp (bool usethreads=false)
	Install fifo channels. More...

virtual int	setup_baseApp (bool remfifo, bool locfifo, bool scrfifo, bool autfifo, bool usethreads=false)
	Create fifo names, then installs the fifo channels. More...

int	setup_fifo_list (int nfifos)
	Allocate the fifo_list. More...

int	connect_fifo_list ()
	Connect the fifo_list with exclusive locking. More...

int	connect_fifo_list_nolock ()
	Connect the fifo_list without exclusive locking. More...

int	setup_sigio ()
	Setup the SIGIO signal handling. More...

int	setup_RTsigio ()
	Setup SIGIO signal handling using realtime signals. More...

int	check_fifo_list_RTpending ()
	Check for pending reads for the fifo list while using the RT signals.

int	write_fifo_channel (int ch, const char com, int comlen, std::string resp)
	Write data to a fifo_channel, and get a response if desired. More...

int	write_fifo_channel (int ch, const char com, int comlen, std::string resp, char *sm)
	Write data to a fifo_channel, with a sequence message attached, and get a response if desired. More...

int	get_fifo_channel_response (std::string *resp, int ch)
	Check, and wait if neccessary, for data on a fifo channel. More...

int	set_wait_to (double to)
	Set the wait timeout for fifo channel responses. More...

double	get_wait_to ()
	Get the wait timeout for fifo channel responses. More...

virtual int	request_control (int cmode)
	Calls request_control(cmode, 0).

virtual int	request_control (int cmode, bool override)
	Attempts to change the control type. More...

virtual std::string	__remote_command (std::string com, char *seqmsg)
	Processing for remote commands. More...

virtual std::string	remote_command (std::string com)
	Called by __remote_command after control state logic. More...

virtual std::string	remote_command (std::string com, char *seqmsg)

virtual std::string	__local_command (std::string com, char *seqmsg)
	Processing for local commands. More...

virtual std::string	local_command (std::string com, char *seqmsg)

virtual std::string	__script_command (std::string com, char *seqmsg)
	Processing for script commands - not normally overriden. More...

virtual std::string	script_command (std::string com, char *seqmsg)

virtual std::string	post_auto_command (std::string com, char *seqmsg=0)
	Processing for auto commands - not normally overriden. More...

std::string	control_mode_string ()
	Convenience function to return the control type string, e.g. "REMOTE".

std::string	control_mode_response ()
	Convenience function to return the control type response string, e.g. "A\n".

virtual void	error_report (int LogLevel, std::string emsg)
	Report an error. Also calls log_msg. More...

VisAO::profiler *	get_profile ()

int	get_use_profiler ()

int	start_profiler ()

void *	get_statusboard_shmemptr ()
	Get the status board shared memory pointer. More...

int	set_statusboard_shmemkey (key_t mkey)
	Set the status board shared memory key. Does nothing else. More...

key_t	get_statusboard_shmemkey ()
	Get the status board shared memory key. More...

virtual int	update_statusboard ()
	Update the status board. More...

virtual void	dataLogger (timeval tv)
	Log data at intervals.

Protected Member Functions
void	Create ()
	Processes the config file.

int	addto_dark ()

int	save_init ()
	Save the initialization data to disk.

int	delete_init ()
	Delete the initialization file.

Protected Member Functions inherited from VisAO::VisAOApp_base
int	create_statusboard (size_t sz)
	Creates and attaches to the statusboard shared memory. More...

std::string	getDataFileName ()

int	checkDataFileOpen ()

Protected Attributes
u_char *	image_p
	Pointer to the current image data.

int	width
	Image width.

int	bias_width
	Width of bias stripe (if any)

int	height
	Image height.

int	bias_height
	Height of bias stripe (if any)

int	depth
	Image bit depth.

int	frameNo
	For use as a running tally of images captured.

sharedim_stack< dataT >	sis
	The shared memory ring buffer for image storage.

sharedim< dataT > *	sim
	Pointer to a shared memory image.

int	shmem_key
	The key for the shared memory.

int	dark_shmem_key
	The key for the darks shared memory.

int	num_sharedim
	The number of shared images available in the buffer.

size_t	max_imsize
	The maximum size (x*y) of images that will be put in this buffer.

int	hasWriterPing
	If true, open fifo for pinging the framewriter.

int	writerPingEnabled
	Send pings on frame ready when true.

int	writerPingChan
	The fifo channel for the writer pings.

int	saves_remaining
	Number pings left to issue.

int	num_skip
	The number of frames to skip between pings.

int	skips_remaining
	Skips remaining.

int	hasServerPing
	If true, open fifo for pinging the frame server.

int	serverPingEnabled
	Send pings on frame ready when true.

int	serverPingChan
	The fifo channel for the writer pings.

int	STOP_FRAMEGRABBER
	If true, framegrabber stops at top of next loop.

int	RUNNING
	Status of framegrabber.

int	sh_i
	Convenience variable for loops.

int	sh_j
	Convenience variable for loops.

timeval	tv
	Convenience variable for filling in the frame time in the image header.

timeval	tv_dma
	Convenience variable for filling in the dma timestamp.

sharedim_stack< dataT >	dark_sis
	The shared memory ring buffer for image storage.

sharedim< dataT > *	dark_sim
	Pointer to a shared memory image.

std::vector< dataT >	dark_temp
	Temporary data storage for dark calculations.

int	calc_dark

int	no_darks_added

int	init_save_interval

Protected Attributes inherited from VisAO::VisAOApp_standalone
std::string	init_file

Config_File *	init_vars

pthread_t	main_thread
	Identifier for the main thread.

pthread_t	signal_thread
	Identifier for the separate signal handling thread.

pthread_mutex_t	signal_mutex
	Mutex for the condition signaling.

pthread_cond_t	signal_cond
	Condition for telling main thread that something changed.

double	signalth_sleeptime

Protected Attributes inherited from VisAO::VisAOApp_base
std::string	app_name
	The name of the application.

double	pause_time
	Time to pause during application main loop.

fifo_list	fl
	The list of named-pipe fifos used for inter-process comms.

std::string	com_path
	The control fifo path base name.

std::string	com_path_remote
	The path for the remote control fifos.

std::string	com_path_local
	The path for the local control fifos.

std::string	com_path_script
	The path for the script control fifos.

std::string	com_path_auto
	The path for the auto control fifos.

double	wait_to
	The timeout for waiting on responses from FIFOs in seconds.

std::ostringstream	logss
	Conveninence string stream for building log messages.

VisAO::profiler *	profile

std::string	profile_path

int	use_profiler

void *	statusboard_shmemptr
	The pointer to the shared memory block for the statusboard.

key_t	statusboard_shmemkey
	The key used to lookup the shared memory.

int	statusboard_shmemid
	The ID of the shared memory block.

std::ofstream	dataof

bool	dataFileOpen

double	dataFileOpenTime

double	data_log_time_length

std::string	data_save_path

std::string	data_file_prefix

Additional Inherited Members
Public Types inherited from VisAO::VisAOApp_base
enum	control_modes { CMODE_NONE, CMODE_REMOTE, CMODE_LOCAL, CMODE_SCRIPT, CMODE_AUTO, CMODE_max }
	The control modes.

Static Public Member Functions inherited from VisAO::VisAOApp_standalone
static const std::string &	ConfigFile ()

static const std::string &	MyName ()

static const std::string &	MyFullName ()

static int	ID ()

static Config_File &	ConfigDictionary ()

static int	Verbosity ()

static string	getConffile (string identity)
	Return configuration file path based on identity.

Public Attributes inherited from VisAO::VisAOApp_base
pthread_mutex_t	my_mutex
	Mutex used by the threaded versions of the standard command handlers.

Static Protected Member Functions inherited from VisAO::VisAOApp_standalone
static void	SetMyName (const std::string &name)

static void	SetConfigFile (const std::string &conffile) throw (Config_File_Exception)

static void	SetID (int id)

Static Protected Attributes inherited from VisAO::VisAOApp_standalone
static Logger *	_logger = NULL

Static Protected Attributes inherited from VisAO::VisAOApp_base
static int	control_mode = VisAOApp_base::CMODE_NONE
	The current control mode. More...

static int	default_control_mode = -1
	The default control mode. More...

Detailed Description

template<class dataT>
class VisAO::framegrabber< dataT >

This class provides a framework for a framegrabber which writes to a sharedim_stack. You need to provide, at a minimum overloaded members start_framegrabber and stop_framegrabber. Has local, script, and auto fifos. Is intended to be normally controlled in auto mode by the camera controller. When a frame is ready, it (optionally) issues a ping to a frame writer process and a frame server process. These pings are frame-ready notifications. The difference between the writer and the server is that the writer also manages saving (number and skipping), whereas the server only receives pings.

In addition to the VisAOApp_standalone config file options, has:

num_sharedim int [200] - the number of shared images to build into the stack
max_imsize int [1024x1024] - the maximum possible size of an image
shmem_key int [DATA_framegrabber47] - the shared memory key of the image data circular buffer
dark_shmem_key int [0] - the shared memory key of the dark image data circular buffer
writer_ping_path string - the path to the frame writer ping fifo, relative to VISAO_ROOT
writer_ping_name string - the name of the frame writer ping. If not set then writer ping is disabled
server_ping_path string- the path to the frame server ping fifo, relative to VISAO_ROOT
server_ping_name string- the name of the frame server ping. If not set then server ping is disabled
init_save_interval int [200] - how often, in frames, to save the frame number to the init file

See VisAOApp_standalone for command line arguments. There are no additional command line arguments for a basic framegrabber, though derived clases may add them.

Commands:

start starts the framegrabber, returns 1
stop stops the framegrabber, returns 0
running? returns 1 if running, 0 if not
save n enable pings for n images
save -1 enable pings indefinitely
save 0 disable pings for frame writer
savedark n saves n dark images, and also updates the realtime dark
skip n when pings enabled, skip n frames between pings
save? status of pings for frame writer (returns value of save)
skip? returns the number of images being skipped
dark n calculates a new realtime dark image (average) from the next n frames
serve 1 enable pings for the frame server
serve 0 disable pings for the frame server
serve? status of pings for frame server
state? returns a string of the form "A,B,C,D,E,F" where the fields indicate:
- A is the one letter control mode (N,R,L,S,or A)
- B is the running state, 1 or 0
- C is the status of saving, 0, n, or -1
- D is the status of skipping, 0..n
- E is the number of saves remaining
- F is the status of the server ping

Definition at line 78 of file framegrabber.h.

Member Function Documentation

template<class dataT >

int VisAO::framegrabber< dataT >::send_ping ( )

Contains the logic for number of saves and skipping frames. Should be called after one of the copyto functions completes.

Return values

0	on success
-1	on failure

Definition at line 447 of file framegrabber.h.

References write_fifo_channel().

template<class dataT >

std::string VisAO::framegrabber< dataT >::local_command ( std::string com )

virtual

This should be overriden by derived classes.

Parameters

com	is the command string to be processed.

Returns: the application response.

Reimplemented from VisAO::VisAOApp_base.

Definition at line 621 of file framegrabber.h.

template<class dataT >

std::string VisAO::framegrabber< dataT >::script_command ( std::string com )

virtual

This should be overriden by derived classes.

Parameters

com	is the command string to be processed.

Returns: the application response.

Reimplemented from VisAO::VisAOApp_base.

Definition at line 631 of file framegrabber.h.

template<class dataT>

std::string VisAO::framegrabber< dataT >::auto_command	(	std::string	com,
		char *	seqmsg
	)

virtual

The handler always calls auto_command, which after app specific processing should call post_auto_command. This is so app specific processing happens first in auto mode, for speed.

Parameters

com	is the command string to be processed.

Returns: the application response.

Reimplemented from VisAO::VisAOApp_base.

Definition at line 642 of file framegrabber.h.

The documentation for this class was generated from the following file:

framegrabber.h

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

template<class dataT> class VisAO::framegrabber< dataT >

Member Function Documentation

template<class dataT>
class VisAO::framegrabber< dataT >