Rtabmap: Refactoring... removed all threading/events related stuff from Rtabmap object to RtabmapThread object (a thread wrapper of the rtabmap object)

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@803 f169173b-cf89-36c8-b27e-44dbe73f0c83
2026-10-07 02:27:47 +08:00 · 2013-02-03 22:12:02 +00:00
parent 916bafeba1
commit e8e75a9d40
11 changed files with 660 additions and 650 deletions
@@ -0,0 +1,89 @@
+/*
+ * Copyright (C) 2010-2011, Mathieu Labbe and IntRoLab - Universite de Sherbrooke
+ *
+ * This file is part of RTAB-Map.
+ *
+ * RTAB-Map is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * RTAB-Map is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with RTAB-Map.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#ifndef RTABMAPTHREAD_H_
+#define RTABMAPTHREAD_H_
+
+#include "rtabmap/core/RtabmapExp.h" // DLL export/import defines
+
+#include <utilite/UThreadNode.h>
+#include <utilite/UEventsHandler.h>
+
+#include "rtabmap/core/RtabmapEvent.h"
+#include "rtabmap/core/Image.h"
+#include "rtabmap/core/Parameters.h"
+
+#include <stack>
+
+namespace rtabmap {
+
+class Rtabmap;
+
+class RTABMAP_EXP RtabmapThread :
+	public UThreadNode,
+	public UEventsHandler
+{
+public:
+	enum State {
+		kStateIdle,
+		kStateDetecting,
+		kStateReseting,
+		kStateChangingParameters,
+		kStateDumpingMemory,
+		kStateDumpingPrediction,
+		kStateGeneratingGraph,
+		kStateGeneratingLocalGraph,
+		kStateDeletingMemory,
+		kStateCleanSensorsBuffer
+	};
+
+public:
+	RtabmapThread();
+	virtual ~RtabmapThread();
+
+	void setWorkingDirectory(const std::string & path);
+	void clearBufferedSensors();
+
+protected:
+	virtual void handleEvent(UEvent * anEvent);
+
+private:
+	virtual void mainLoop();
+	virtual void mainLoopKill();
+	void process();
+	void addImage(const Image & image);
+	void getImage(Image & image);
+	void pushNewState(State newState, const ParametersMap & parameters = ParametersMap());
+	void setDataBufferSize(int size);
+
+private:
+	UMutex _stateMutex;
+	std::stack<State> _state;
+	std::stack<ParametersMap> _stateParam;
+
+	std::list<Image> _imageBuffer;
+	UMutex _imageMutex;
+	USemaphore _imageAdded;
+	int _imageBufferMaxSize;
+
+	Rtabmap * _rtabmap;
+};
+
+} /* namespace rtabmap */
+#endif /* RTABMAPTHREAD_H_ */