firewire_camera_driver_nodelet.h

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// Copyright (C) 2010-2011 Institut de Robotica i Informatica Industrial, CSIC-UPC.
// Author 
// All rights reserved.
//
// This file is part of iri-ros-pkg
// iri-ros-pkg is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU Lesser General Public License for more details.
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program.  If not, see <http://www.gnu.org/licenses/>.
// 
// IMPORTANT NOTE: This code has been generated through a script from the 
// iri_ros_scripts. Please do NOT delete any comments to guarantee the correctness
// of the scripts. ROS topics can be easly add by using those scripts. Please
// refer to the IRI wiki page for more information:
// http://wikiri.upc.es/index.php/Robotics_Lab

#ifndef _firewire_camera_driver_nodelet_h_
#define _firewire_camera_driver_nodelet_h_

#include "nodelet/nodelet.h"

#include <iri_base_driver/iri_base_driver_node.h>
#include "firewire_camera_driver.h"

// diagnostic headers
#include "diagnostic_updater/diagnostic_updater.h"
#include "diagnostic_updater/publisher.h"

// image transport
#include "image_transport/image_transport.h"
#include <camera_info_manager/camera_info_manager.h>

// [publisher subscriber headers]
#include <sensor_msgs/Image.h>

// [service client headers]

// [action server client headers]

#include "eventserver.h"
#include "threadserver.h"

class FirewireCameraDriverNode : public iri_base_driver::IriBaseNodeDriver<FirewireCameraDriver>
{
  private:
    // [publisher attributes]
    camera_info_manager::CameraInfoManager camera_manager;
    boost::shared_ptr<image_transport::ImageTransport> it;
    sensor_msgs::ImagePtr Image_msg_;// this pointer is already a shared_ptr
    image_transport::CameraPublisher camera_image_publisher_;
    diagnostic_updater::HeaderlessTopicDiagnostic *diagnosed_camera_image;

    // [subscriber attributes]

    // [service attributes]

    // [client attributes]

    // [action server attributes]

    // [action client attributes]

    // node attributes
    double desired_framerate;
    CEventServer *event_server;
    std::string new_frame_event;
    std::string tf_prefix_;

    void postNodeOpenHook(void);

  public:
    FirewireCameraDriverNode(ros::NodeHandle& nh);

    ~FirewireCameraDriverNode();

  protected:
    void mainNodeThread(void);

    // [diagnostic functions]
    void check_configuration(diagnostic_updater::DiagnosticStatusWrapper &stat);

    void addNodeDiagnostics(void);

    // [driver test functions]

    void addNodeOpenedTests(void);

    void addNodeStoppedTests(void);

    void addNodeRunningTests(void);

    void reconfigureNodeHook(int level);

};

class FirewireCameraNodelet : public nodelet::Nodelet
{
  private:
    virtual void onInit();// initialization function
    FirewireCameraDriverNode *dev;
    // thread attributes
    CThreadServer *thread_server;
    std::string spin_thread_id;
  protected:
    static void *spin_thread(void *param);
  public:
    FirewireCameraNodelet();
    ~FirewireCameraNodelet();
};

#endif