driver1394.h
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00001 /* -*- mode: C++ -*- */
00002 /* $Id$ */
00003 
00004 /*********************************************************************
00005 * Software License Agreement (BSD License)
00006 *
00007 *  Copyright (c) 2010 Jack O'Quin
00008 *  All rights reserved.
00009 *
00010 *  Redistribution and use in source and binary forms, with or without
00011 *  modification, are permitted provided that the following conditions
00012 *  are met:
00013 *
00014 *   * Redistributions of source code must retain the above copyright
00015 *     notice, this list of conditions and the following disclaimer.
00016 *   * Redistributions in binary form must reproduce the above
00017 *     copyright notice, this list of conditions and the following
00018 *     disclaimer in the documentation and/or other materials provided
00019 *     with the distribution.
00020 *   * Neither the name of the author nor other contributors may be
00021 *     used to endorse or promote products derived from this software
00022 *     without specific prior written permission.
00023 *
00024 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00025 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00026 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00027 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00028 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00029 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00030 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00031 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00032 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00033 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00034 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00035 *  POSSIBILITY OF SUCH DAMAGE.
00036 *********************************************************************/
00037 
00038 #include <boost/thread/mutex.hpp>
00039 
00040 #include <ros/ros.h>
00041 #include <camera_info_manager/camera_info_manager.h>
00042 #include <diagnostic_updater/diagnostic_updater.h>
00043 #include <diagnostic_updater/publisher.h>
00044 #include <driver_base/driver.h>
00045 #include <dynamic_reconfigure/server.h>
00046 #include <image_transport/image_transport.h>
00047 #include <sensor_msgs/CameraInfo.h>
00048 
00049 #include "dev_camera1394.h"
00050 #include "camera1394/Camera1394Config.h"
00051 typedef camera1394::Camera1394Config Config;
00052 
00059 namespace camera1394_driver
00060 {
00061 
00062 class Camera1394Driver
00063 {
00064 public:
00065 
00066   // public methods
00067   Camera1394Driver(ros::NodeHandle priv_nh,
00068                    ros::NodeHandle camera_nh);
00069   ~Camera1394Driver();
00070   void poll(void);
00071   void setup(void);
00072   void shutdown(void);
00073 
00074 private:
00075 
00076   // private methods
00077   void closeCamera();
00078   bool openCamera(Config &newconfig);
00079   void publish(const sensor_msgs::ImagePtr &image);
00080   bool read(sensor_msgs::ImagePtr &image);
00081   void reconfig(camera1394::Camera1394Config &newconfig, uint32_t level);
00082 
00084   boost::mutex mutex_;
00085 
00087   volatile driver_base::Driver::state_t state_; // current driver state
00088   volatile bool reconfiguring_;         // true when reconfig() running
00089   ros::NodeHandle priv_nh_;             // private node handle
00090   ros::NodeHandle camera_nh_;           // camera name space handle
00091   std::string camera_name_;             // camera name
00092   ros::Rate cycle_;                     // polling rate when closed
00093   uint32_t retries_;                    // count of openCamera() retries
00094 
00096   boost::shared_ptr<camera1394::Camera1394> dev_;
00097 
00099   camera1394::Camera1394Config config_;
00100   dynamic_reconfigure::Server<camera1394::Camera1394Config> srv_;
00101 
00103   boost::shared_ptr<camera_info_manager::CameraInfoManager> cinfo_;
00104   bool calibration_matches_;            // CameraInfo matches video mode
00105 
00107   boost::shared_ptr<image_transport::ImageTransport> it_;
00108   image_transport::CameraPublisher image_pub_;
00109 
00111   diagnostic_updater::Updater diagnostics_;
00112   double topic_diagnostics_min_freq_;
00113   double topic_diagnostics_max_freq_;
00114   diagnostic_updater::TopicDiagnostic topic_diagnostics_;
00115 
00116 }; // end class Camera1394Driver
00117 
00118 }; // end namespace camera1394_driver


camera1394
Author(s): Jack O'Quin, Ken Tossell, Patrick Beeson, Nate Koenig, Andrew Howard, Damien Douxchamps, Dan Dennedy
autogenerated on Sat Dec 28 2013 16:50:11