camera1394_node.cpp
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00001 /* $Id$ */
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 }


camera1394
Author(s): Jack O'Quin, Ken Tossell, Patrick Beeson, Nate Koenig, Andrew Howard, Damien Douxchamps, Dan Dennedy
autogenerated on Sun Oct 5 2014 22:42:12