Fawkes API  Fawkes Development Version
pcl_db_store_thread.h
1 
2 /***************************************************************************
3  * pcl_db_store_thread.h - Store point clouds to MongoDB
4  *
5  * Created: Mon May 05 14:26:15 2014
6  * Copyright 2012-2014 Tim Niemueller [www.niemueller.de]
7  ****************************************************************************/
8 
9 /* This program is free software; you can redistribute it and/or modify
10  * it under the terms of the GNU General Public License as published by
11  * the Free Software Foundation; either version 2 of the License, or
12  * (at your option) any later version.
13  *
14  * This program is distributed in the hope that it will be useful,
15  * but WITHOUT ANY WARRANTY; without even the implied warranty of
16  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
17  * GNU Library General Public License for more details.
18  *
19  * Read the full text in the LICENSE.GPL file in the doc directory.
20  */
21 
22 #ifndef _PLUGINS_PERCEPTION_PCL_DB_STORE_PCL_DB_STORE_THREAD_H_
23 #define _PLUGINS_PERCEPTION_PCL_DB_STORE_PCL_DB_STORE_THREAD_H_
24 
25 #include <aspect/blackboard.h>
26 #include <aspect/clock.h>
27 #include <aspect/configurable.h>
28 #include <aspect/logging.h>
29 #include <aspect/pointcloud.h>
30 #include <core/threading/thread.h>
31 #include <pcl/point_cloud.h>
32 #include <pcl/point_types.h>
33 #include <plugins/mongodb/aspect/mongodb.h>
34 
35 namespace fawkes {
36 class PclDatabaseStoreInterface;
37 class BlackBoardOnMessageWaker;
38 } // namespace fawkes
39 class PointCloudAdapter;
40 
42  public fawkes::ClockAspect,
43  public fawkes::LoggingAspect,
46  public fawkes::MongoDBAspect,
48 {
49 public:
51  virtual ~PointCloudDBStoreThread();
52 
53  virtual void init();
54  virtual void loop();
55  virtual void finalize();
56 
57 private:
58  bool store_pointcloud(std::string pcl_id,
59  std::string database,
60  std::string collection,
61  std::string &errmsg);
62 
63  /** Stub to see name in backtrace for easier debugging. @see Thread::run() */
64 protected:
65  virtual void
66  run()
67  {
68  Thread::run();
69  }
70 
71 private: // members
72  fawkes::PclDatabaseStoreInterface *store_if_;
74  PointCloudAdapter * adapter_;
75 
76  std::string cfg_input_id_;
77  std::string cfg_database_;
78 };
79 
80 #endif
Point cloud adapter class.
Definition: pcl_adapter.h:39
Thread to store point clouds from database on request.
virtual void loop()
Code to execute in the thread.
virtual ~PointCloudDBStoreThread()
Destructor.
virtual void init()
Initialize the thread.
virtual void finalize()
Finalize the thread.
virtual void run()
Stub to see name in backtrace for easier debugging.
Thread aspect to access to BlackBoard.
Definition: blackboard.h:34
Wake threads on receiving a blackboard message.
Thread aspect that allows to obtain the current time from the clock.
Definition: clock.h:34
Thread aspect to access configuration data.
Definition: configurable.h:33
Thread aspect to log output.
Definition: logging.h:33
Thread aspect to access MongoDB.
Definition: mongodb.h:39
Thread aspect to provide and access point clouds.
Definition: pointcloud.h:38
Thread class encapsulation of pthreads.
Definition: thread.h:46
Fawkes library namespace.