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 <ifw/ccf/common/base.hpp>
#include <ifw/ccf/common/utilities.hpp>
#include <ifw/ccf/common/frameQueue.hpp>
 
namespace ifw::ccf::control {

  constexpr double FRAME_RECV_TIMEOUT = 0.100;

  constexpr double NO_FRAME_RECV_SLEEP_TIME = 0.001;

  class AcqThread: public ifw::ccf::mptk::Thread {
  public:

    AcqThread(const std::string& thread_name,
              ifw::ccf::mptk::MessageBus& message_bus,
              const double period = 0.1);
 
    virtual ~AcqThread();
 
    void Initialise();

    void ResetCounters();

    void SetInputQ(std::shared_ptr<ifw::ccf::common::FrameQueue>& queue);

    ifw::ccf::common::FrameQueue& GetInputQ();

    virtual void UserLogic();

    ifw::ccf::common::FrameStatistics& GetFrameStat();
 
  private:
    bool      m_allow_frame_skippping;
    int16_t   m_fr_periodicity_chk_tolerance{2};
    bool      m_fr_periodicity_chk_auto_error{true};
    float     m_fr_periodicity_chk_min_timeout{5.0};
 
    // Current data frame used for receiving data. Should not be shared_ptr.
    ifw::ccf::common::DataFrame* m_cur_frame;
 
    ifw::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;
 
    bool   m_exec_telemetry_after_setup{true};
 
    void GetFreeFrame(uint8_t attempts);
    void HandleCcfTriggering();
    void HandleCustomTrigger(bool frame_received);
    void ReceiveFrame(bool& frame_received,
                      double& fr_reception_time);
    void HandleFrameRecvStatus();
    void SubmitAndNotify();
    void CheckCameraHealth();
    void CheckMessageBus(bool& new_setup);
    //void AssessAndUpdateAcqStatus();
    void HandleNewSetup(ifw::ccf::Status status,
                         std::string& diagnostics);
    void CheckFramePeriodicity();
    void ResetFramePeriodicityCheckPars();
 
    // Note: The queues are allocated and deleted by the ifw::ccf::control::application class.
    std::shared_ptr<ifw::ccf::common::FrameQueue> m_input_q;
    ifw::ccf::mptk::Message                       m_cur_msg;   // Current thread message being handled.
 
    double                        m_last_acq_status_check;
 
    ifw::ccf::common::FrameStatistics  m_frame_stat;
  };
 
}
 
#endif // IFW_CCF_CTL_ACQ_THREAD_HPP_