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phPipeline.h

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00001 /* ---------------------------------------------------------------------------
00002     Phission :
00003         Realtime Vision Processing System
00004 
00005     Copyright (C) 2003-2006 Philip D.S. Thoren (pthoren@cs.uml.edu)
00006     University of Massachusetts at Lowell,
00007     Laboratory for Artificial Intelligence and Robotics
00008 
00009     This file is part of Phission.
00010 
00011     Phission is free software; you can redistribute it and/or modify
00012     it under the terms of the GNU Lesser General Public License as published by
00013     the Free Software Foundation; either version 2 of the License, or
00014     (at your option) any later version.
00015 
00016     Phission 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 Lesser General Public License for more details.
00020 
00021     You should have received a copy of the GNU Lesser General Public License
00022     along with Phission; if not, write to the Free Software
00023     Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
00024 
00025  ---------------------------------------------------------------------------*/
00026 #ifndef _PHPIPELINE_H
00027 #define _PHPIPELINE_H
00028 
00029 #include <phStandard.h>
00030 #include <phLiveObject.h>
00031 #include <phImage.h>
00032 #include <phFilter.h>
00033 #include <phThread.h>
00034 #include <phObjectList.h>
00035 #include <phSemaphore.h>
00036 #include <phTimeInterval.h>
00037 
00043 /* These are used in 'runFilters' to decide which input should be used.
00044  * the pipeline thread by default will use m_liveSourceInput if defined, 
00045  * otherwise it'll listen to the internal m_inputImage.
00046  * 'runFilters' isn't the thread however, so one can decide which input
00047  * to use. */
00048 #define phPipeline_Input 0
00049 #define phPipeline_LiveSource 1
00050 #define phPipeline_Decide -1
00051  /* end \addtogroup PhissionSystem */
00053 
00054 /* ------------------------------------------------------------------------ */
00073 PHAPI(class) phPipeline : public phThread
00074 {
00075 private:
00076     phImage         m_inputImage;
00077     phImage         m_outputImage;
00078 
00079     /* live source stuff; If there is no live source image, the processing
00080      * thread listens to the input image */
00081     phLiveObject   *m_liveSource;
00082     phSemaphore     m_liveSourceSignal;
00083 
00084     phImage         m_workspaceImage;
00085     phImage         m_originalImage;
00086 
00087     uint32_t        m_filterCount;
00088     phFilter      **m_filterArray;
00089     
00090     phObjectList    m_filters;
00091     phSemaphore     m_generateSignal;
00092 
00093     int             generateFilterArray();
00094     int             checkSignals();
00095 
00096     /* Unprotected class, needs a mutex and functional access only */
00097     /* The average running time isn't protected from overflow,
00098      * have to use resetAverage to prevent overflowing, although,
00099      * chances are low that overflow will happen */
00100     phMutex         m_timeLock;
00101     phTimeStamp     m_runtime;
00102     phTimeStamp     m_averageRuntime;
00103     double          m_total_nsec;
00104     uintmax_t       m_averageSamples;
00105     int             m_do_timing;
00106     int             m_timingEnabled;
00107     phSemaphore     m_timingEnabledSignal;
00108     int             applyRuntime(phTimeStamp &runtime);
00109 
00110 
00111 protected:
00112     virtual int wakeup();
00113     virtual int run();
00114     
00115 public:
00116     phPipeline();
00117     ~phPipeline();
00118 
00119     /*-----------------------------------------------------------------------*/
00120     /* Image methods */
00121     /*-----------------------------------------------------------------------*/
00122     /* pointer to device's public image */
00123     int     setInputImage   ( phImage &newImage );
00124     int     copyOutputImage ( phImage &copyto   );
00125     
00126     const phImage &getInputImage    ();
00127     const phImage &getOutputImage   ();
00128 
00129     /*-----------------------------------------------------------------------*/
00130     /* Pipeline phFilter methods */
00131     /*-----------------------------------------------------------------------*/
00136     int add     ( phFilter *filter );
00140     int remove  ( phFilter *filter );
00144     int empty   ( );
00149     int query   ( phFilter *filter );
00150     
00151     /*-----------------------------------------------------------------------*/
00152     /* Timing Features */
00153     /*-----------------------------------------------------------------------*/
00159     int         enableTiming    ();
00160     int         disableTiming   ();
00161     int         isTimingEnabled ();
00165     phTimeStamp runtime         ();
00170     phTimeStamp averageRuntime  ();
00175     uintmax_t   averageSamples  ();
00181     int         resetAverage    ();
00182     
00183     /*-----------------------------------------------------------------------*/
00184     /* Pipeline processing/activity features */
00185     /*-----------------------------------------------------------------------*/
00196     int runFilters( int32_t use_input_image = phPipeline_Decide );
00197     int print();
00198 
00199     int isPipelineActive();
00200     int startPipeline   ();
00201     int stopPipeline    ();
00202     
00203     /*-----------------------------------------------------------------------*/
00204     /* Pipeline live source features */
00205     /*-----------------------------------------------------------------------*/
00206     phLiveObject   *getLiveSourceOutput ();
00207     int             setLiveSourceInput  ( phLiveObject *img );
00208 
00209     phLiveObject   *getOutput();
00210     int             setInput  ( phLiveObject *img );
00211 };
00212 
00213 #endif /* _PHPIPELINE_H */




Copyright (C) 2002 - 2007 Philip D.S. Thoren ( pthoren@users.sourceforge.net )
University Of Massachusetts at Lowell
Robotics Lab
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