Base class for all items that use the roviz framework. More...

#include <roviz_item.h>

Inheritance diagram for RovizItem:

Collaboration diagram for RovizItem:

Public Member Functions
	RovizItem (std::string type_name)

virtual void	starting (void)
	Called, when the thread is about to start. More...

virtual void	thread (void)=0
	Main thread of the item. More...

void	stop (void) override
	Stop thread operation. More...

virtual void	stopped (void)
	Called after the thread stopped. More...

template<class T >
Input< T >	addInput (std::string name)
	Add an input. More...

template<class T >
Output< T >	addOutput (std::string name)
	Add an output. More...

bool	waitForCond (std::function< bool(void)> cond)
	Sleep until a condition comes true. More...

bool	waitFor (std::function< bool(void)> cond)
	Wait until a condition comes true. More...

bool	wait (void)
	Wait if the item is paused. More...

bool	running (void) const override
	Check if the thread is running. More...

void	wake (void) const
	Wake the possibly waiting thread. More...

std::mutex &	mutex (void) const
	Mutex that waitFor() locks to check the condidion. More...

Trim	addTrim (std::string name, double default_value, double min, double max, std::function< void(double)> notifier_func)
	Add a trim value. More...

Trim	addTrim (std::string name, double default_value, double min, double max, bool logarithmic)
	Add a trim value. More...

Trim	addTrim (std::string name, double default_value, double min, double max, int steps, std::function< void(double)> notifier_func)
	Add a trim value. More...

Trim	addTrim (std::string name, double default_value, double min, double max, int steps=0, bool logarithmic=false, std::function< void(double)> notifier_func=[](double){})
	Add a trim value. More...

Trim	addTrim (std::string name, double default_value, double min, double max, double step_size, std::function< void(double)> notifier_func=[](double){})
	Add a trim value. More...

template<class T >
Config< T >	addConfig (const std::string &name, const typename ConfigStorageType< T >::type &default_value, int min, int max, bool restart_when_changed=false)
	Add a config for an integer value. More...

template<class T >
Config< T >	addConfig (const std::string &name, const typename ConfigStorageType< T >::type &default_value, double min, double max, bool restart_when_changed=false)
	Add a config for a floating point (double) value. More...

template<class T >
Config< T >	addConfig (const std::string &name, const typename ConfigStorageType< T >::type &default_value, std::function< bool(std::string &)> checker=[](std::string &){return true;}, bool restart_when_changed=false)
	Add a config for a string value. More...

template<class T >
Config< T >	addConfig (const std::string &name, const typename ConfigStorageType< T >::type &default_index, const std::list< std::string > &possibilities, bool restart_when_changed=false)
	Add a config for a list of strings. More...

template<class T >
Config< T >	addConfig (const std::string &name, const typename ConfigStorageType< T >::type &default_value, bool restart_when_changed=false)
	Add a config for a boolean value. More...

template<class T >
Config< T >	addConfig (const std::string &name, const typename ConfigStorageType< T >::type &default_value, enum FilePath::Mode file_mode, const std::string &filter, bool restart_when_changed=false)
	Add a config for an integer value. More...

template<>
Config< int >	addConfig (const std::string &name, const ConfigStorageType< int >::type &default_value, int min, int max, bool restart_when_changed)

template<>
Config< double >	addConfig (const std::string &name, const ConfigStorageType< double >::type &default_value, double min, double max, bool restart_when_changed)

template<>
Config< bool >	addConfig (const std::string &name, const ConfigStorageType< bool >::type &default_value, bool restart_when_changed)

template<>
Config< FilePath >	addConfig (const std::string &name, const ConfigStorageType< FilePath >::type &default_value, FilePath::Mode file_mode, const std::string &filter, bool restart_when_changed)

Detailed Description

Base class for all items that use the roviz framework.

All items using the roviz framework have to inherit from this class. They have to at least implement thread(). This function will run in a seperate thread and can process the data.

The templated functions need to know on what kind of stream they operate. Examples might be Image or Message. You can also implement your own stream-type. Look at StreamObject for more information.

See also: RovizItemBase; RovizItemNoExport

Constructor & Destructor Documentation

◆ RovizItem()

RovizItem::RovizItem ( std::string type_name )

explicit

Parameters

type_name The name of the item

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Member Function Documentation

◆ addConfig() [1/6]

template<class T >

Config<T> RovizItem::addConfig	(	const std::string &	name,
		const typename ConfigStorageType< T >::type &	default_value,
		int	min,
		int	max,
		bool	restart_when_changed = `false`
	)

Add a config for an integer value.

Parameters

name	Name of the config
default_value	Default value if nothing is saved in the config file
min	Lowest possible value
max	Highest possible value
restart_when_changed	If true, the item will be restarted when changes to the config are applied

Returns: The newly created config

◆ addConfig() [2/6]

template<class T >

Config<T> RovizItem::addConfig	(	const std::string &	name,
		const typename ConfigStorageType< T >::type &	default_value,
		double	min,
		double	max,
		bool	restart_when_changed = `false`
	)

Add a config for a floating point (double) value.

Parameters

name	Name of the config
default_value	Default value if nothing is saved in the config file
min	Lowest possible value
max	Highest possible value
restart_when_changed	If true, the item will be restarted when changes to the config are applied

Returns: The newly created config

◆ addConfig() [3/6]

template<class T >

Config<T> RovizItem::addConfig	(	const std::string &	name,
		const typename ConfigStorageType< T >::type &	default_value,
		std::function< bool(std::string &)>	checker = `[](std::string &){return true;}`,
		bool	restart_when_changed = `false`
	)

Add a config for a string value.

Parameters

name	Name of the config
default_value	Default value if nothing is saved in the config file
checker	Function that checks if a string is a valid possible input. Returns true, if it's valid, false otherwise.
restart_when_changed	If true, the item will be restarted when changes to the config are applied

Returns: The newly created config

◆ addConfig() [4/6]

template<class T >

Config<T> RovizItem::addConfig	(	const std::string &	name,
		const typename ConfigStorageType< T >::type &	default_index,
		const std::list< std::string > &	possibilities,
		bool	restart_when_changed = `false`
	)

Add a config for a list of strings.

Parameters

name	Name of the config
default_index	Default index if nothing is saved in the config file
possibilities	A list of all possible values
restart_when_changed	If true, the item will be restarted when changes to the config are applied

Returns: The newly created config

◆ addConfig() [5/6]

template<class T >

Config<T> RovizItem::addConfig	(	const std::string &	name,
		const typename ConfigStorageType< T >::type &	default_value,
		bool	restart_when_changed = `false`
	)

Add a config for a boolean value.

Parameters

name	Name of the config
default_value	Default value if nothing is saved in the config file
restart_when_changed	If true, the item will be restarted when changes to the config are applied

Returns: The newly created config

◆ addConfig() [6/6]

template<class T >

Config<T> RovizItem::addConfig	(	const std::string &	name,
		const typename ConfigStorageType< T >::type &	default_value,
		enum FilePath::Mode	file_mode,
		const std::string &	filter,
		bool	restart_when_changed = `false`
	)

Add a config for an integer value.

Parameters

name	Name of the config
default_value	Default value if nothing is saved in the config file
file_mode	Determines, what can be selected (see FilePath::Mode)
filter	Filter the allowed file types
restart_when_changed	If true, the item will be restarted when changes to the config are applied

Returns: The newly created config

◆ addInput()

template<class T >

Input< T > RovizItem::addInput ( std::string name )

Add an input.

Parameters

name	Name of the input

Returns: Handle to that input

See also: addOutput

◆ addOutput()

template<class T >

Output< T > RovizItem::addOutput ( std::string name )

Add an output.

Parameters

name	Name of the output

Returns: Handle to that output

See also: addInput; pushOut

◆ addTrim() [1/5]

Trim RovizItem::addTrim	(	std::string	name,
		double	default_value,
		double	min,
		double	max,
		std::function< void(double)>	notifier_func
	)

Add a trim value.

Parameters

name	Name of the value
min	Minimum value
max	Maximum value
notifier_func	Function that gets called when the value of the Trim changes

Returns: Handle to the trim value

A trim value is a value, that can be adjusted (trimmed) at runtime. The user can changed it e.g. through a slider on a GUI.

◆ addTrim() [2/5]

Trim RovizItem::addTrim	(	std::string	name,
		double	default_value,
		double	min,
		double	max,
		bool	logarithmic
	)

Add a trim value.

Parameters

name	Name of the value
min	Minimum value
max	Maximum value
logarithmic	If true, the slider will have a logarithmic scale instead of a linear one.

Returns: Handle to the trim value

A trim value is a value, that can be adjusted (trimmed) at runtime. The user can changed it e.g. through a slider on a GUI.

◆ addTrim() [3/5]

Trim RovizItem::addTrim	(	std::string	name,
		double	default_value,
		double	min,
		double	max,
		int	steps,
		std::function< void(double)>	notifier_func
	)

Add a trim value.

Parameters

name	Name of the value
min	Minimum value
max	Maximum value
steps	Number of steps between min and max
notifier_func	Function that gets called when the value of the Trim changes

Returns: Handle to the trim value

A trim value is a value, that can be adjusted (trimmed) at runtime. The user can changed it e.g. through a slider on a GUI.

◆ addTrim() [4/5]

Trim RovizItem::addTrim	(	std::string	name,
		double	default_value,
		double	min,
		double	max,
		int	steps = `0`,
		bool	logarithmic = `false`,
		std::function< void(double)>	notifier_func = `[](double){}`
	)

Add a trim value.

Parameters

name	Name of the value
min	Minimum value
max	Maximum value
steps	Number of steps between min and max
logarithmic	If true, the slider will have a logarithmic scale instead of a linear one.
notifier_func	Function that gets called when the value of the Trim changes

Returns: Handle to the trim value

A trim value is a value, that can be adjusted (trimmed) at runtime. The user can changed it e.g. through a slider on a GUI.

◆ addTrim() [5/5]

Trim RovizItem::addTrim	(	std::string	name,
		double	default_value,
		double	min,
		double	max,
		double	step_size,
		std::function< void(double)>	notifier_func = `[](double){}`
	)

Add a trim value.

Parameters

name	Name of the value
min	Minimum value
max	Maximum value
step_size	Value of the smallest possible change that you can make with the slider.
notifier_func	Function that gets called when the value of the Trim changes

Returns: Handle to the trim value

A trim value is a value, that can be adjusted (trimmed) at runtime. The user can changed it e.g. through a slider on a GUI.

◆ mutex()

std::mutex & RovizItem::mutex ( void ) const

Mutex that waitFor() locks to check the condidion.

Returns: Mutex that waitFor() locks to check the condidion

Only change the condition waitFor() is waiting for while holding this mutex!

See also: waitFor; waitForCond

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◆ running()

bool RovizItem::running ( void ) const

override

Check if the thread is running.

Returns: true, if the thread is running false, if the thread is paused or stopped

This function does not handle start/pause/stop events itself. It could be used in event handlers, to check, whether they have to process this event, because it doesn't make sense to do that if the thread isn't running anyway. It normally doesn't make much sense to call this function from the thread() function. Use wait() instead for that.

See also: waitForImage; waitFor; wait

◆ starting()

void RovizItem::starting ( void )

virtual

Called, when the thread is about to start.

Use this function to reset, clear and initialize everything that might change during runtime. After the call to this function, the item has to be in a clean, fresh state. The item is not allowed to have any information of the previous "session" or thread run left. That would defy the purpose of the start/stop mechanism. The inputs/outputs and trims/configs are preserved, you can set them in the constructor. The thread doesn't run yet at this point.

See also: stopped

Reimplemented in GrayConvItem, and SubtractorItem.

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◆ stop()

void RovizItem::stop ( void )

override

Stop thread operation.

Important: You have to call this function in the destructor, otherwise the thread might still run after destruction of the members, even if it is called in the base class destructor.

See also: stopped; starting

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◆ stopped()

void RovizItem::stopped ( void )

virtual

Called after the thread stopped.

Called after the thread stopped. You can do some cleanup here if you like.

See also: starting

Reimplemented in CvCameraItem.

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◆ thread()

virtual void RovizItem::thread ( void )

pure virtual

Main thread of the item.

This function will be executed in a different thread and you can process the image data in here.

See also: starting; stopped

Implemented in FrameDelayerItem, GaussianBlurItem, GrayConvItem, SubtractorItem, TIGItem, TVGItem, CvCameraItem, CannyItem, HarrisCornerItem, SobelItem, and TEMPLATE_CLASSItem.

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◆ wait()

bool RovizItem::wait ( void )

Wait if the item is paused.

Returns: true - No need to wait any further false - The item was stopped, the thread HAS TO exit

This function could be used for image sources that don't need a condidion to be true to generate an image.

This function implements the pause/stop mechanism. It doesn't return as long as the item is paused and returns false if it is stopped. It is important that the thread exits when this happens!

See also: waitForImage; waitFor; running

◆ waitFor()

bool RovizItem::waitFor ( std::function< bool(void)> cond )

Wait until a condition comes true.

Parameters

cond	Condition to wait for

Returns: true - The condition returned true false - The item was stopped, the thread HAS TO exit

This function could be used by image sources that have to wait for hardware events. It will wait until the cond function returns true. The cond function will be called periodically. Unlike waitForCond(), this functions guarantees that the condition is evatluated periodically. This function will aquire the mutex returned by mutex() while executing cond. Make sure you only manipulate the condition while holding that mutex.

This function implements the pause/stop mechanism. It doesn't return as long as the item is paused and returns false if it is stopped. It is important that the thread exits when this happens!

See also: wake; mutex; waitForImage; wait; running

◆ waitForCond()

bool RovizItem::waitForCond ( std::function< bool(void)> cond )

Sleep until a condition comes true.

Parameters

cond	Condition to wait for

Returns: true - The condition returned true false - The item was stopped, the thread HAS TO exit

This function could be used by image sources that have to wait for hardware events. It will wait until the cond function returns true. The cond function will be called periodically. It might happen, that the thread keeps sleeping and doesn't notice that the condition changed. Use wake() from an event handler or interrupt or something similar to ensure the thread checks the condidion again. If this is not possible, use the less efficient waitFor() instead. This function will aquire the mutex returned by mutex() while executing cond. Make sure you only manipulate the condition while holding that mutex.

This function implements the pause/stop mechanism. It doesn't return as long as the item is paused and returns false if it is stopped. It is important that the thread exits when this happens!

See also: wake; mutex; waitForImage; wait; running

◆ wake()

void RovizItem::wake ( void ) const

Wake the possibly waiting thread.

If you know the thread is waiting for a condidion and e.g. an event handler sees that the condidion has changed, it's a good idea to notify the thread and wake it up.

See also: waitFor

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

usercore/include/core/roviz_item.h
usercore/src/core/roviz_item.cpp

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ RovizItem()

Member Function Documentation

◆ addConfig() [1/6]

◆ addConfig() [2/6]

◆ addConfig() [3/6]

◆ addConfig() [4/6]

◆ addConfig() [5/6]

◆ addConfig() [6/6]

◆ addInput()

◆ addOutput()

◆ addTrim() [1/5]

◆ addTrim() [2/5]

◆ addTrim() [3/5]

◆ addTrim() [4/5]

◆ addTrim() [5/5]

◆ mutex()

◆ running()

◆ starting()

◆ stop()

◆ stopped()

◆ thread()

◆ wait()

◆ waitFor()

◆ waitForCond()

◆ wake()