Block execution program until callback function complete execution - c++

Question

How to block program execution until callback function complete execution ?
From my main() i launch interface.getImage(); function who want to get images from our database. When we receive images the callback function void InterfaceColliseo::dataReceived (std::shared_ptr data) start to execute.
But I have a problem my program main() terminate before my callback function execution ?
main.cpp
int main(){
InterfaceColliseo interface;
IMAGE = true;
interface.getImage();
// want to block program here
return 0;
}
callback function
void InterfaceColliseo::dataReceived (std::shared_ptr<IData> data)
{
if (!data->isValid())
return;
const unsigned char* twoDImageData = data->get2DImageData();
int width2DImageData = data->getWidth2DImageData();
int height2DImageData = data->getHeight2DImageData();
const unsigned char* disparityData = data->getDisparityData();
int widthDisparityData = data->getWidthDisparityData();
int heightDisparityData = data->getHeightDisparityData();
if(IMAGE) {
saveImage(twoDImageData, width2DImageData, height2DImageData,
disparityData, widthDisparityData, heightDisparityData);
IMAGE = false;
}
if(ACQUISATION){
QList<GstObservationBasic> detectorData = data->getObstaclesData();
getObstacles(detectorData);
}
}

Answer 1

I think you just can use thread from std. When you use join, the main thread will wait until joined thread will finish his job.
#include <thread>
//in main
std::thread myThread(interface.getImage);
myThread.join();

Answer 2

#include "interface_colliseo.h"
std::mutex mtx;
std::condition_variable cv;
bool IMAGE;
bool ACQUISATION;
InterfaceColliseo::InterfaceColliseo(){
}
void InterfaceColliseo::startStreaming(){
dataReceiver = _device->getDataReceiver();
start();
}
void InterfaceColliseo::getImage(){
dataReceiver = _device->getDataReceiver();
start();
}
InterfaceColliseo::InterfaceColliseo(QString IP): _IP(IP) {
qDebug() << "INDUS-5: IP server: " << _IP;
qDebug() << "INDUS-5: Connecting to sensor...";
_colliseoClient.setIPServer(_IP);
}
bool InterfaceColliseo::connect2UT(){
QString path = qApp->applicationDirPath()+"/Configuration.ini";
QSettings config(path, QSettings::IniFormat);
_IP = config.value("Connection/IP","10.0.3.144").toString();
_colliseoClient.setIPServer(_IP);
_device = _colliseoClient.getDevice();
_device->connectSensor();
bool connect = _device->isConnected();
return connect;
}
QString InterfaceColliseo::sensorName(){
return _device->getDeviceDiagnostics()->getOperatingData()
->getDeviceInformation()->getOrderNumber();
}
QString InterfaceColliseo::sensorFirmwareVersion(){
return _device->getDeviceDiagnostics()->getOperatingData()
->getDeviceInformation()->getFirmwareVersion();
}
QString InterfaceColliseo::getSensorHeadPN(QString sensor){
return _device->getDeviceDiagnostics()->getOperatingData()
->getDeviceInformation()->getSensorHeadPN(sensor);
}
QString InterfaceColliseo::getEvaluationUnitSN(){
return _device->getDeviceDiagnostics()->getOperatingData()
->getDeviceInformation()->getEvaluationUnitSN();
}
QString InterfaceColliseo::getEvaluationUnitPN(){
return _device->getDeviceDiagnostics()->getOperatingData()
->getDeviceInformation()->getEvaluationUnitPN();
}
QString InterfaceColliseo::getEvaluationUnitFirmwareVersion(){
return _device->getDeviceDiagnostics()->getOperatingData()
->getDeviceInformation()->getEvaluationUnitFirmwareVersion();
}
QString InterfaceColliseo::getEstimatedAngleX(){
return _device->getDeviceDiagnostics()->getOperatingData()
->getDeviceInformation()->getEstimatedAngleX();
}
QString InterfaceColliseo::getEstimatedAngleZ(){
return _device->getDeviceDiagnostics()->getOperatingData()
->getDeviceInformation()->getEstimatedAngleZ();
}
QString InterfaceColliseo::getEstimatedHeight(){
return _device->getDeviceDiagnostics()->getOperatingData()
->getDeviceInformation()->getEstimatedHeight();
}
void InterfaceColliseo::saveImage(const unsigned char*twoDImageData,
int width2DImageData, int height2DImageData,
const unsigned char*disparityData,
int widthDisparityData, int disptHeight){
Configuration configuration;
QString logFolder = configuration.getLogFolder();
QImage imgRight(twoDImageData, width2DImageData, height2DImageData, QImage::Format_Indexed8);
QImage imgDisparity(disparityData, widthDisparityData, disptHeight, QImage::Format_Indexed8);
QPixmap imgRght = QPixmap::fromImage(imgRight);
QPixmap imgDisp = QPixmap::fromImage(imgDisparity);
QString rghtImgPath = logFolder + "raw_image.png";
QString dispImgPath = logFolder + "disp_image.png";
imgRght.save(rghtImgPath, "PNG");
imgDisp.save(dispImgPath, "PNG");
}
void InterfaceColliseo::getObstacles(QList<GstObservationBasic> detectorData){
if (detectorData.size() == 0)
{
qDebug() << "Obstacles: no detected obstacles.";
return;
}
Configuration config;
config.writeLog("***************Obstacles List Acquisation******************");
Q_FOREACH(const GstObservationBasic &obs, detectorData)
{
qDebug() << "Obstacles: " << gstObservationToString(obs);
config.writeLog(gstObservationToString(obs));
}
}
void InterfaceColliseo::dataReceived (std::shared_ptr<IData> data)
{
if (!data->isValid())
return;
const unsigned char* twoDImageData = data->get2DImageData();
int width2DImageData = data->getWidth2DImageData();
int height2DImageData = data->getHeight2DImageData();
const unsigned char* disparityData = data->getDisparityData();
int widthDisparityData = data->getWidthDisparityData();
int heightDisparityData = data->getHeightDisparityData();
if(IMAGE) {
saveImage(twoDImageData, width2DImageData, height2DImageData,
disparityData, widthDisparityData, heightDisparityData);
IMAGE = false;
}
if(ACQUISATION){
QList<GstObservationBasic> detectorData = data->getObstaclesData();
getObstacles(detectorData);
ACQUISATION = false;
}
}
void InterfaceColliseo::start() {
dataReceiver->addListener(this);
if(dataReceiver->isListening())
dataReceiver->stopListening();
dataReceiver->startListening();
_device->triggerSingleImageAcquisition();
}