Shared memory image buffer. More...

#include <>>

Inheritance diagram for firevision::SharedMemoryImageBuffer:

Public Member Functions
	SharedMemoryImageBuffer (const char *image_id, colorspace_t cspace, unsigned int width, unsigned int height)
	Write Constructor.
	SharedMemoryImageBuffer (const char *image_id, bool is_read_only=true)
	Read Constructor.
	~SharedMemoryImageBuffer ()
	Destructor.
const char *	image_id () const
	Get Image ID.
const char *	frame_id () const
	Get frame ID.
unsigned char *	buffer () const
	Get image buffer.
colorspace_t	colorspace () const
	Get color space.
unsigned int	width () const
	Get image width.
unsigned int	height () const
	Get image height.
unsigned int	roi_x () const
	Get ROI X.
unsigned int	roi_y () const
	Get ROI Y.
unsigned int	roi_width () const
	Get ROI width.
unsigned int	roi_height () const
	Get ROI height.
int	circle_x () const
	Get circle X.
int	circle_y () const
	Get circle Y.
unsigned int	circle_radius () const
	Get circle radius.
bool	circle_found () const
	Check if circle was found .
void	set_roi_x (unsigned int roi_x)
	Set ROI X.
void	set_roi_y (unsigned int roi_y)
	Set ROI Y.
void	set_roi_width (unsigned int roi_w)
	Set ROI width.
void	set_roi_height (unsigned int roi_h)
	Set ROI height.
void	set_roi (unsigned int roi_x, unsigned int roi_y, unsigned int roi_w, unsigned int roi_h)
	Set ROI data.
void	set_circle_x (int circle_x)
	Set circle X.
void	set_circle_y (int circle_y)
	Set circle Y.
void	set_circle_radius (unsigned int circle_radius)
	Set circle radius.
void	set_circle (int x, int y, unsigned int r)
	Set circle data.
void	set_circle_found (bool found)
	Set circle found.
bool	set_image_id (const char *image_id)
	Set image number.
void	set_frame_id (const char *frame_id)
	Set frame ID.
fawkes::Time	capture_time () const
	Get the time when the image was captured.
void	capture_time (long int sec, long int usec) const
	Get the time when the image was captured.
void	set_capture_time (fawkes::Time *time)
	Set the capture time.
void	set_capture_time (long int sec, long int usec)
	Set the capture time.
Public Member Functions inherited from fawkes::SharedMemory
	SharedMemory (const char magic_token, SharedMemoryHeader header, bool is_read_only, bool create, bool destroy_on_delete, const char *registry_name=0)
	Create a new shared memory segment.
	SharedMemory (const SharedMemory &s)
	Copy constructor.
virtual	~SharedMemory ()
	Destructor.
bool	is_read_only () const
	Check for read-only mode.
bool	is_destroyed () const
	Check if segment has been destroyed This can be used if the segment has been destroyed.
bool	is_swapable () const
	Check if memory can be swapped out.
bool	is_valid () const
	Check validity of shared memory segment.
bool	is_creator () const
	Determine if the shared memory segment has been created by this instance.
bool	is_protected () const
	Check if memory segment is protected.
void *	memptr () const
	Get a pointer to the shared memory This method returns a pointer to the data-segment of the shared memory segment.
size_t	data_size () const
	Get the size of the data-segment.
int	shmem_id () const
	Get shared memory ID.
unsigned int	num_attached () const
	Get number of attached processes.
void	set (void *memptr)
	Copies data from the memptr to shared memory.
void	set_destroy_on_delete (bool destroy)
	Set deletion behaviour.
void	add_semaphore ()
	Add semaphore to shared memory segment.
void	set_swapable (bool swapable)
	Set shared memory swapable.
void	lock_for_read ()
	Lock shared memory segment for reading.
bool	try_lock_for_read ()
	Try to aquire lock on shared memory segment for reading.
void	lock_for_write ()
	Lock shared memory segment for writing.
bool	try_lock_for_write ()
	Try to aquire lock on shared memory segment for writing.
void	unlock ()
	Unlock memory.
void *	ptr (void *addr) const
	Get the real pointer to the data based on an address.
void *	addr (void *ptr) const
	Get an address from a real pointer.

Static Public Member Functions
static void	list ()
	List all shared memory segments that contain a FireVision image.
static void	cleanup (bool use_lister=true)
	Erase all shared memory segments that contain FireVision images.
static bool	exists (const char *image_id)
	Check image availability.
static void	wipe (const char *image_id)
	Erase a specific shared memory segment that contains an image.
Static Public Member Functions inherited from fawkes::SharedMemory
static void	list (const char magic_token, SharedMemoryHeader header, SharedMemoryLister lister, const char registry_name=0)
	List shared memory segments of a given type.
static void	erase (const char magic_token, SharedMemoryHeader header, SharedMemoryLister lister=0, const char registry_name=0)
	Erase shared memory segments of a given type.
static void	erase_orphaned (const char magic_token, SharedMemoryHeader header, SharedMemoryLister lister=0, const char registry_name=0)
	Erase orphaned (attach count = 0) shared memory segments of a given type.
static bool	exists (const char magic_token, SharedMemoryHeader header, const char *registry_name=0)
	Check if a specific shared memory segment exists.
static bool	is_destroyed (int shm_id)
	Check if a segment has been destroyed.
static bool	is_swapable (int shm_id)
	Check if memory can be swapped out.
static unsigned int	num_attached (int shm_id)
	Get number of attached processes.
static SharedMemoryIterator	find (const char magic_token, SharedMemoryHeader header, const char *registry_name=0)
	Find SharedMemory segments.
static SharedMemoryIterator	end ()
	Get invalid iterator.

Additional Inherited Members
Static Public Attributes inherited from fawkes::SharedMemory
static const unsigned int	MagicTokenSize = MAGIC_TOKEN_SIZE
	The magic token size.
static const short	MaxNumConcurrentReaders = 8
	Maximum number of concurrent readers.
Protected Member Functions inherited from fawkes::SharedMemory
	SharedMemory (const char magic_token, bool is_read_only, bool create, bool destroy_on_delete, const char registry_name=0)
	Constructor for derivates.
void	attach ()
	Attach to the shared memory segment.
void	free ()
	Detach from and maybe destroy the shared memory segment.
Protected Attributes inherited from fawkes::SharedMemory
void *	_memptr
	Pointer to the data segment.
size_t	_mem_size
	Total size of the segment, including headers.
size_t	_data_size
	Size of the data segment only.
SharedMemoryHeader *	_header
	Data-specific header.
bool	_is_read_only
	Read-only.
bool	_destroy_on_delete
	destroy on delete.
bool	_should_create
	Create shared memory segment.
char *	_magic_token
	Magic token.
char *	_shm_magic_token
	Magic token as stored in the shared memory segment.
SharedMemory_header_t *	_shm_header
	general header as stored in the shared memory segment
void *	_shm_upper_bound
	Upper bound of memory.
long unsigned int	_shm_offset
	Offset to the master's base addr.

Detailed Description

Shared memory image buffer.

Write images to or retrieve images from a shared memory segment.

Author:: Tim Niemueller

Definition at line 135 of file shm_image.h.

Constructor & Destructor Documentation

firevision::SharedMemoryImageBuffer::SharedMemoryImageBuffer	(	const char *	image_id,
		colorspace_t	cspace,
		unsigned int	width,
		unsigned int	height
	)

Write Constructor.

Create a new shared memory segment. Will open a shared memory segment that exactly fits the given information. Will throw an error if image with id image_id exists. I will create a new segment if no matching segment was found. The segment is accessed in read-write mode.

Use this constructor to open a shared memory image buffer for writing.

Parameters:

image_id	image ID to open
cspace	colorspace
width	image width
height	image height

Definition at line 63 of file shm_image.cpp.

References fawkes::SharedMemory::add_semaphore().

firevision::SharedMemoryImageBuffer::SharedMemoryImageBuffer	(	const char *	image_id,
		bool	is_read_only = `true`
	)

Read Constructor.

This constructor is used to search for an existing shared memory segment. It will throw an error if it cannot find a segment with the specified data. The segment is opened read-only by default, but this can be overridden with the is_read_only argument if needed.

Use this constructor to open an image for reading.

Parameters:

image_id	Image ID to open
is_read_only	true to open image read-only

Definition at line 87 of file shm_image.cpp.

firevision::SharedMemoryImageBuffer::~SharedMemoryImageBuffer ( )

Destructor.

Definition at line 122 of file shm_image.cpp.

References fawkes::SharedMemory::free().

Member Function Documentation

unsigned char * firevision::SharedMemoryImageBuffer::buffer ( ) const

Get image buffer.

Returns:: image buffer.

Definition at line 234 of file shm_image.cpp.

References fawkes::SharedMemory::_memptr.

Referenced by firevision::FuseImageContent::FuseImageContent(), OpenNiDepthThread::loop(), OpenNiImageThread::loop(), OpenNiPclOnlyThread::loop(), FvRetrieverThread::loop(), and OpenNiUserTrackerThread::loop().

Time firevision::SharedMemoryImageBuffer::capture_time ( ) const

Get the time when the image was captured.

Returns:: capture time

Definition at line 194 of file shm_image.cpp.

References firevision::SharedMemoryImageBuffer_header_t::capture_time_sec, and firevision::SharedMemoryImageBuffer_header_t::capture_time_usec.

Referenced by firevision::FuseImageContent::FuseImageContent(), and OpenNiPclOnlyThread::loop().

void firevision::SharedMemoryImageBuffer::capture_time	(	long int *	sec,
		long int *	usec
	)		const

Get the time when the image was captured.

Parameters:

sec	upon return contains the seconds part of the time
usec	upon return contains the micro seconds part of the time

Definition at line 184 of file shm_image.cpp.

References firevision::SharedMemoryImageBuffer_header_t::capture_time_sec, and firevision::SharedMemoryImageBuffer_header_t::capture_time_usec.

bool firevision::SharedMemoryImageBuffer::circle_found ( ) const

Check if circle was found .

Returns:: true if circle was found, false otherwise

Definition at line 482 of file shm_image.cpp.

References firevision::SharedMemoryImageBuffer_header_t::flag_circle_found.

unsigned int firevision::SharedMemoryImageBuffer::circle_radius ( ) const

Get circle radius.

Returns:: circle radius

Definition at line 334 of file shm_image.cpp.

References firevision::SharedMemoryImageBuffer_header_t::circle_radius.

Referenced by set_circle_radius().

int firevision::SharedMemoryImageBuffer::circle_x ( ) const

Get circle X.

Returns:: circle X

Definition at line 314 of file shm_image.cpp.

References firevision::SharedMemoryImageBuffer_header_t::circle_x.

Referenced by set_circle_x().

int firevision::SharedMemoryImageBuffer::circle_y ( ) const

Get circle Y.

Returns:: circle Y

Definition at line 324 of file shm_image.cpp.

References firevision::SharedMemoryImageBuffer_header_t::circle_y.

Referenced by set_circle_y().

void firevision::SharedMemoryImageBuffer::cleanup ( bool use_lister = true )

static

Erase all shared memory segments that contain FireVision images.

Parameters:

use_lister if true a lister is used to print the shared memory segments to stdout while cleaning up.

Definition at line 507 of file shm_image.cpp.

References fawkes::SharedMemory::erase_orphaned().

colorspace_t firevision::SharedMemoryImageBuffer::colorspace ( ) const

Get color space.

Returns:: colorspace

Definition at line 244 of file shm_image.cpp.

References firevision::SharedMemoryImageBuffer_header_t::colorspace.

Referenced by firevision::FuseImageContent::FuseImageContent().

bool firevision::SharedMemoryImageBuffer::exists ( const char * image_id )

static

Check image availability.

Parameters:

image_id image ID to check

Returns:: true if shared memory segment with requested image exists

Definition at line 528 of file shm_image.cpp.

const char * firevision::SharedMemoryImageBuffer::frame_id ( ) const

Get frame ID.

Returns:: frame id

Definition at line 173 of file shm_image.cpp.

References firevision::SharedMemoryImageBufferHeader::frame_id().

unsigned int firevision::SharedMemoryImageBuffer::height ( ) const

Get image height.

Returns:: image height

Definition at line 264 of file shm_image.cpp.

References firevision::SharedMemoryImageBuffer_header_t::height.

Referenced by firevision::FuseImageContent::FuseImageContent(), and OpenNiPclOnlyThread::init().

const char * firevision::SharedMemoryImageBuffer::image_id ( ) const

Get Image ID.

Returns:: image id

Definition at line 163 of file shm_image.cpp.

Referenced by firevision::FuseImageContent::FuseImageContent().

void firevision::SharedMemoryImageBuffer::list ( )

static

List all shared memory segments that contain a FireVision image.

Definition at line 490 of file shm_image.cpp.

unsigned int firevision::SharedMemoryImageBuffer::roi_height ( ) const

Get ROI height.

Returns:: ROI height

Definition at line 304 of file shm_image.cpp.

References firevision::SharedMemoryImageBuffer_header_t::roi_height.

unsigned int firevision::SharedMemoryImageBuffer::roi_width ( ) const

Get ROI width.

Returns:: ROI width

Definition at line 294 of file shm_image.cpp.

References firevision::SharedMemoryImageBuffer_header_t::roi_width.

unsigned int firevision::SharedMemoryImageBuffer::roi_x ( ) const

Get ROI X.

Returns:: ROI X

Definition at line 274 of file shm_image.cpp.

References firevision::SharedMemoryImageBuffer_header_t::roi_x.

Referenced by set_roi(), and set_roi_x().

unsigned int firevision::SharedMemoryImageBuffer::roi_y ( ) const

Get ROI Y.

Returns:: ROI Y

Definition at line 284 of file shm_image.cpp.

References firevision::SharedMemoryImageBuffer_header_t::roi_y.

Referenced by set_roi(), and set_roi_y().

void firevision::SharedMemoryImageBuffer::set_capture_time ( fawkes::Time * time )

Set the capture time.

Parameters:

time	capture time

Definition at line 204 of file shm_image.cpp.

References fawkes::SharedMemory::_is_read_only, firevision::SharedMemoryImageBuffer_header_t::capture_time_sec, firevision::SharedMemoryImageBuffer_header_t::capture_time_usec, and fawkes::Time::get_timeval().

Referenced by OpenNiDepthThread::loop(), OpenNiImageThread::loop(), and FvRetrieverThread::loop().

void firevision::SharedMemoryImageBuffer::set_capture_time	(	long int	sec,
		long int	usec
	)

Set the capture time.

Parameters:

sec	seconds part of capture time
usec	microseconds part of capture time

Definition at line 220 of file shm_image.cpp.

References fawkes::SharedMemory::_is_read_only, firevision::SharedMemoryImageBuffer_header_t::capture_time_sec, and firevision::SharedMemoryImageBuffer_header_t::capture_time_usec.

void firevision::SharedMemoryImageBuffer::set_circle	(	int	x,
		int	y,
		unsigned int	r
	)

Set circle data.

Parameters:

x	circle X
y	circle Y
r	circle radius

Definition at line 457 of file shm_image.cpp.

References fawkes::SharedMemory::_is_read_only, firevision::SharedMemoryImageBuffer_header_t::circle_radius, firevision::SharedMemoryImageBuffer_header_t::circle_x, and firevision::SharedMemoryImageBuffer_header_t::circle_y.

void firevision::SharedMemoryImageBuffer::set_circle_found ( bool found )

Set circle found.

Parameters:

found true if circle found

Definition at line 472 of file shm_image.cpp.

References firevision::SharedMemoryImageBuffer_header_t::flag_circle_found.

void firevision::SharedMemoryImageBuffer::set_circle_radius ( unsigned int circle_radius )

Set circle radius.

Parameters:

circle_radius new circle radius

Definition at line 442 of file shm_image.cpp.

References fawkes::SharedMemory::_is_read_only, firevision::SharedMemoryImageBuffer_header_t::circle_radius, and circle_radius().

void firevision::SharedMemoryImageBuffer::set_circle_x ( int circle_x )

Set circle X.

Parameters:

circle_x new circle X

Definition at line 416 of file shm_image.cpp.

References fawkes::SharedMemory::_is_read_only, firevision::SharedMemoryImageBuffer_header_t::circle_x, and circle_x().

void firevision::SharedMemoryImageBuffer::set_circle_y ( int circle_y )

Set circle Y.

Parameters:

circle_y new circle Y

Definition at line 429 of file shm_image.cpp.

References fawkes::SharedMemory::_is_read_only, firevision::SharedMemoryImageBuffer_header_t::circle_y, and circle_y().

void firevision::SharedMemoryImageBuffer::set_frame_id ( const char * frame_id )

Set frame ID.

Parameters:

frame_id new frame ID

Definition at line 152 of file shm_image.cpp.

References firevision::SharedMemoryImageBuffer_header_t::frame_id, and firevision::SharedMemoryImageBufferHeader::set_frame_id().

Referenced by FvRetrieverThread::init(), and OpenNiPointCloudThread::init().

bool firevision::SharedMemoryImageBuffer::set_image_id ( const char * image_id )

Set image number.

This will close the currently opened image and will try to open the new image. This operation should be avoided.

Parameters:

image_id new image ID

Returns:: true on success

Definition at line 136 of file shm_image.cpp.

References fawkes::SharedMemory::_memptr, fawkes::SharedMemory::attach(), fawkes::SharedMemory::free(), firevision::SharedMemoryImageBufferHeader::raw_header(), and firevision::SharedMemoryImageBufferHeader::set_image_id().

void firevision::SharedMemoryImageBuffer::set_roi	(	unsigned int	roi_x,
		unsigned int	roi_y,
		unsigned int	roi_w,
		unsigned int	roi_h
	)

Set ROI data.

Parameters:

roi_x	new ROI X
roi_y	new ROI Y
roi_w	new ROI width
roi_h	new ROI height

Definition at line 399 of file shm_image.cpp.

References fawkes::SharedMemory::_is_read_only, firevision::SharedMemoryImageBuffer_header_t::roi_height, firevision::SharedMemoryImageBuffer_header_t::roi_width, firevision::SharedMemoryImageBuffer_header_t::roi_x, roi_x(), firevision::SharedMemoryImageBuffer_header_t::roi_y, and roi_y().

void firevision::SharedMemoryImageBuffer::set_roi_height ( unsigned int roi_h )

Set ROI height.

Parameters:

roi_h new ROI height

Definition at line 383 of file shm_image.cpp.

References fawkes::SharedMemory::_is_read_only, and firevision::SharedMemoryImageBuffer_header_t::roi_height.

void firevision::SharedMemoryImageBuffer::set_roi_width ( unsigned int roi_w )

Set ROI width.

Parameters:

roi_w new ROI width

Definition at line 370 of file shm_image.cpp.

References fawkes::SharedMemory::_is_read_only, and firevision::SharedMemoryImageBuffer_header_t::roi_width.

void firevision::SharedMemoryImageBuffer::set_roi_x ( unsigned int roi_x )

Set ROI X.

Parameters:

roi_x new ROI X

Definition at line 344 of file shm_image.cpp.

References fawkes::SharedMemory::_is_read_only, firevision::SharedMemoryImageBuffer_header_t::roi_x, and roi_x().

void firevision::SharedMemoryImageBuffer::set_roi_y ( unsigned int roi_y )

Set ROI Y.

Parameters:

roi_y new ROI Y

Definition at line 357 of file shm_image.cpp.

References fawkes::SharedMemory::_is_read_only, firevision::SharedMemoryImageBuffer_header_t::roi_y, and roi_y().

unsigned int firevision::SharedMemoryImageBuffer::width ( ) const

Get image width.

Returns:: width

Definition at line 254 of file shm_image.cpp.

References firevision::SharedMemoryImageBuffer_header_t::width.

Referenced by firevision::FuseImageContent::FuseImageContent(), and OpenNiPclOnlyThread::init().

void firevision::SharedMemoryImageBuffer::wipe ( const char * image_id )

static

Erase a specific shared memory segment that contains an image.

Parameters:

image_id ID of image to wipe

Definition at line 543 of file shm_image.cpp.

References fawkes::SharedMemory::erase().

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

src/libs/fvutils/ipc/shm_image.h
src/libs/fvutils/ipc/shm_image.cpp

Public Member Functions

Static Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation