TOBI SignalServer
0.1
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00001 /* 00002 This file is part of the TOBI SignalServer. 00003 00004 Commercial Usage 00005 Licensees holding valid Graz University of Technology Commercial 00006 licenses may use this file in accordance with the Graz University 00007 of Technology Commercial License Agreement provided with the 00008 Software or, alternatively, in accordance with the terms contained in 00009 a written agreement between you and Graz University of Technology. 00010 00011 -------------------------------------------------- 00012 00013 GNU General Public License Usage 00014 Alternatively, this file may be used under the terms of the GNU 00015 General Public License version 3.0 as published by the Free Software 00016 Foundation and appearing in the file gpl.txt included in the 00017 packaging of this file. Please review the following information to 00018 ensure the GNU General Public License version 3.0 requirements will be 00019 met: http://www.gnu.org/copyleft/gpl.html. 00020 00021 In case of GNU General Public License Usage ,the TOBI SignalServer 00022 is distributed in the hope that it will be useful, 00023 but WITHOUT ANY WARRANTY; without even the implied warranty of 00024 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00025 GNU General Public License for more details. 00026 00027 You should have received a copy of the GNU General Public License 00028 along with the TOBI SignalServer. If not, see <http://www.gnu.org/licenses/>. 00029 00030 Copyright 2010 Graz University of Technology 00031 Contact: SignalServer@tobi-project.org 00032 */ 00033 00039 #ifndef HANDPOINT_H 00040 #define HANDPOINT_H 00041 00042 #include <boost/cstdint.hpp> 00043 #include <boost/interprocess/mapped_region.hpp> 00044 #include <boost/interprocess/shared_memory_object.hpp> 00045 #include <boost/interprocess/sync/interprocess_mutex.hpp> 00046 #include <boost/interprocess/sync/interprocess_semaphore.hpp> 00047 00048 #include <boost/date_time/posix_time/posix_time.hpp> 00049 00050 #include "hw_thread.h" 00051 #include "hw_thread_builder.h" 00052 00053 00054 namespace tobiss 00055 { 00056 //----------------------------------------------------------------------------- 00057 00063 class KinectShmReader : public HWThread 00064 { 00065 public: 00069 KinectShmReader (ticpp::Iterator<ticpp::Element> hw); 00070 00074 virtual ~KinectShmReader(); 00075 00084 virtual SampleBlock<double> getAsyncData(); 00085 00089 virtual void run(); 00090 00094 virtual void stop(); 00095 00096 //----------------------------------------------- 00097 private: 00102 virtual void setDeviceSettings(ticpp::Iterator<ticpp::Element>const &father); 00103 00108 virtual void setChannelSettings(ticpp::Iterator<ticpp::Element>const &father); 00109 00114 virtual SampleBlock<double> getSyncData() {return data_; } 00115 00116 //----------------------------------------------- 00117 00118 boost::uint32_t old_frame_id_; 00119 boost::posix_time::ptime last_change_; 00120 00121 bool connected_, event_reset_needed_; 00122 00123 std::vector<double> KinectShmReader_data_; 00124 00125 SampleBlock<double> data_; 00126 SampleBlock<double> empty_block_; 00127 00128 boost::interprocess::shared_memory_object *shared_memory_obj_; 00129 boost::interprocess::mapped_region *region_; 00130 00131 struct shared_memory_struct 00132 { 00133 double x, y, z, confidence; 00134 boost::uint32_t event, state, frame_id, clients; 00135 00136 boost::interprocess::interprocess_mutex mutex; 00137 } *shared_memory_; 00138 00139 // timeout for IPC in ms 00140 static const long TIMEOUT = 100; 00141 00142 // name of shared memory 00143 static const char *SHARED_MEMORY_NAME; 00144 00145 static const HWThreadBuilderTemplateRegistratorWithoutIOService<KinectShmReader> FACTORY_REGISTRATOR_; 00146 }; 00147 00148 } // Namespace tobiss 00149 00150 #endif // HANDPOINT_H 00151 00152 //-----------------------------------------------------------------------------