camera1394_node.cpp
Go to the documentation of this file.00001 /* $Id: camera1394_node.cpp 34660 2010-12-11 18:27:24Z joq $ */ 00002 00003 /********************************************************************* 00004 * Software License Agreement (BSD License) 00005 * 00006 * Copyright (c) 2010 Jack O'Quin 00007 * All rights reserved. 00008 * 00009 * Redistribution and use in source and binary forms, with or without 00010 * modification, are permitted provided that the following conditions 00011 * are met: 00012 * 00013 * * Redistributions of source code must retain the above copyright 00014 * notice, this list of conditions and the following disclaimer. 00015 * * Redistributions in binary form must reproduce the above 00016 * copyright notice, this list of conditions and the following 00017 * disclaimer in the documentation and/or other materials provided 00018 * with the distribution. 00019 * * Neither the name of the author nor other contributors may be 00020 * used to endorse or promote products derived from this software 00021 * without specific prior written permission. 00022 * 00023 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00024 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00025 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00026 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00027 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00028 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00029 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00030 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00031 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00032 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00033 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00034 * POSSIBILITY OF SUCH DAMAGE. 00035 *********************************************************************/ 00036 00037 #include <signal.h> 00038 #include "driver1394.h" 00039 00050 void sigsegv_handler(int sig) 00051 { 00052 signal(SIGSEGV, SIG_DFL); 00053 fprintf(stderr, "Segmentation fault, stopping camera driver.\n"); 00054 ROS_ERROR("Segmentation fault, stopping camera."); 00055 ros::shutdown(); // stop the main loop 00056 } 00057 00059 int main(int argc, char **argv) 00060 { 00061 ros::init(argc, argv, "camera1394_node"); 00062 ros::NodeHandle node; 00063 ros::NodeHandle priv_nh("~"); 00064 ros::NodeHandle camera_nh("camera"); 00065 signal(SIGSEGV, &sigsegv_handler); 00066 camera1394_driver::Camera1394Driver dvr(priv_nh, camera_nh); 00067 00068 dvr.setup(); 00069 while (node.ok()) 00070 { 00071 dvr.poll(); 00072 ros::spinOnce(); 00073 } 00074 dvr.shutdown(); 00075 00076 return 0; 00077 }