void Memory::createLocks(bool clean_locks) {
if (clean_locks) {
cleanLock(LOCK_MOTION_NAME);
cleanLock(LOCK_VISION_NAME);
cleanLock(LOCK_VISION_MOTION_NAME);
}
assert(motion_lock_ == NULL);
motion_lock_ = new Lock(LOCK_MOTION_NAME);
assert(vision_lock_ == NULL);
vision_lock_ = new Lock(LOCK_VISION_NAME);
assert(vision_motion_lock_ == NULL);
vision_motion_lock_ = new Lock(LOCK_VISION_MOTION_NAME);
}
void ImageCapture::initVision() {
std::cout << "ImageCapture: Initializing Vision Interface" << std::endl << std::flush;
cleanLock(Lock::getLockName(memory_,LOCK_VISION));
vision_lock_ = new Lock(Lock::getLockName(memory_,LOCK_VISION));
std::cout << "ImageCapture: Creating Top V4L2 camera" << std::endl << std::flush;
std::cout << "ImageCapture: Creating Bottom V4L2 camera" << std::endl << std::flush;
#ifdef COMPILE_FOR_GEODE
top_camera_ = new DummyCamera(topImageParams_, camera_info_->params_top_camera_,camera_info_->read_params_top_camera_);
bottom_camera_ = new DummyCamera(bottomImageParams_, camera_info_->params_bottom_camera_,camera_info_->read_params_bottom_camera_);
#else
top_camera_ = new TopCamera(topImageParams_, camera_info_->params_top_camera_,camera_info_->read_params_top_camera_);
bottom_camera_ = new BottomCamera(bottomImageParams_, camera_info_->params_bottom_camera_,camera_info_->read_params_bottom_camera_);
#endif
// std::cout << "ImageCapture(INFO):Sleeping for 5 seconds to allow for camera initialization" << std::endl;
// sleep(5);
std::cout << "ImageCapture: Done creating V4L2 cameras" << std::endl << std::flush;
std::cout << "ImageCapture: Creating thread to take images" << std::endl << std::flush;
pthread_create(&image_thread_, NULL, (threadedTakeImage), this );
std::cout << "ImageCapture: Done creating thread to take images" << std::endl << std::flush;
std::cout << "ImageCapture: Done initializing Vision Interface" << std::endl << std::flush;
}
Lock::Lock(const std::string &name, bool clean_first):
name_(name)
{
if (clean_first)
cleanLock(name);
createLock();
}
void Lock::recreate(){
deleteLock();
cleanLock(name_.c_str());
createLock();
}
