acqThread.hpp

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#ifndef IFW_CCF_CTL_ACQ_THREAD_HPP_
#define IFW_CCF_CTL_ACQ_THREAD_HPP_
 
#include <boost/exception/diagnostic_information.hpp>
 
#include <ccf/common/base.hpp>
#include <ccf/common/utilities.hpp>
#include <ccf/common/frameQueue.hpp>
 
namespace ccf::control {
 
  constexpr double FRAME_RECV_TIMEOUT = 0.100;
 
  constexpr double NO_FRAME_RECV_SLEEP_TIME = 0.001;
 
  class AcqThread: public ccf::mptk::Thread {
  public:
 
    AcqThread(const std::string& thread_name,
              ccf::mptk::MessageBus& message_bus,
              const double period = 0.1);
 
    virtual ~AcqThread();
 
    void Initialise();
 
    void ResetCounters();
 
    void SetInputQ(std::shared_ptr<ccf::common::FrameQueue>& queue);
 
    ccf::common::FrameQueue& GetInputQ();
 
    virtual void UserLogic();
 
    ccf::common::FrameStatistics& GetFrameStat();
 
  private:
    bool      m_allow_frame_skippping;
 
    // Current data frame used for receiving data. Should not be shared_ptr.
    ccf::common::DataFrame* m_cur_frame;
 
    ccf::common::DataFrame  m_spare_frame;
    uint64_t m_iteration_count;
    uint64_t m_iterations_since_start_count;
    uint64_t m_frames_acquired;
 
    double   m_time_last_no_free_input_frames_log;
    double   m_time_for_last_cam_check;
 
    // Members to handle check for timely frame reception.
    double m_time_for_last_fr_reception;
    double m_current_fr_period; 
    double m_time_for_last_fr_reception_warning;
    bool   m_fr_periodicity_warning_active;
 
    void GetFreeFrame(uint8_t attempts);
    void ReceiveFrame(bool& frame_received,
                      double& fr_reception_time);
    void HandleFrameRecvStatus();
    void SubmitAndNotify();
    void CheckCameraHealth();
    void CheckMessageBus(bool& new_setup);
    void AssessAndUpdateAcqStatus();
    void HandleNewSetup(ccf::Status status,
                         std::string& diagnostics);
    void CheckFramePeriodicity();
    void ResetFramePeriodicityCheckPars();
 
    // Note: The queues are allocated and deleted by the ccf::control::application class.
    std::shared_ptr<ccf::common::FrameQueue> m_input_q;
    ccf::mptk::Message                       m_cur_msg;   // Current thread message being handled.
 
    ccf::common::FrameStatistics  m_frame_stat;
  };
 
}
 
#endif // IFW_CCF_CTL_ACQ_THREAD_HPP_