Fawkes API  Fawkes Development Version
shmem.h
00001 
00002 /***************************************************************************
00003  *  shmem.h - This header defines a reader for shared memory images
00004  *
00005  *  Created: Thu Jan 12 19:41:17 2006
00006  *  Copyright  2005-2009  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. A runtime exception applies to
00014  *  this software (see LICENSE.GPL_WRE file mentioned below for details).
00015  *
00016  *  This program is distributed in the hope that it will be useful,
00017  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
00018  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00019  *  GNU Library General Public License for more details.
00020  *
00021  *  Read the full text in the LICENSE.GPL_WRE file in the doc directory.
00022  */
00023 
00024 #ifndef __FIREVISION_CAMS_SHMEM_H_
00025 #define __FIREVISION_CAMS_SHMEM_H_
00026 
00027 #include <cams/camera.h>
00028 #include <fvutils/color/colorspaces.h>
00029 #include <fvutils/ipc/shm_image.h>
00030 
00031 namespace firevision {
00032 #if 0 /* just to make Emacs auto-indent happy */
00033 }
00034 #endif
00035 
00036 class CameraArgumentParser;
00037 
00038 class SharedMemoryCamera : public Camera
00039 {
00040 
00041  public:
00042 
00043   SharedMemoryCamera(const char *image_id, bool deep_copy = false);
00044   SharedMemoryCamera(const CameraArgumentParser *cap);
00045   ~SharedMemoryCamera();
00046 
00047   virtual void open();
00048   virtual void start();
00049   virtual void stop();
00050   virtual void close();
00051   virtual void flush();
00052   virtual void capture();
00053   virtual void print_info();
00054 
00055   virtual bool ready();
00056 
00057   virtual unsigned char* buffer();
00058   virtual unsigned int   buffer_size();
00059   virtual void           dispose_buffer();
00060 
00061   virtual unsigned int   pixel_width();
00062   virtual unsigned int   pixel_height();
00063   virtual colorspace_t   colorspace();
00064   virtual fawkes::Time * capture_time();
00065 
00066   virtual void           set_image_number(unsigned int n);
00067 
00068   SharedMemoryImageBuffer *  shared_memory_image_buffer();
00069 
00070   virtual void           lock_for_read();
00071   virtual bool           try_lock_for_read();
00072   virtual void           lock_for_write();
00073   virtual bool           try_lock_for_write();
00074   virtual void           unlock();
00075 
00076  private:
00077   void init();
00078 
00079   bool          __deep_copy;
00080   bool          __opened;
00081   unsigned int  __width;
00082   unsigned int  __height;
00083   char *        __image_id;
00084 
00085   SharedMemoryImageBuffer  *__shm_buffer;
00086 
00087   unsigned char *__deep_buffer;
00088 
00089   fawkes::Time *__capture_time;
00090 };
00091 
00092 } // end namespace firevision
00093 
00094 #endif