photo_node.cpp

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// ROS Headers
#include <ros/ros.h>
#include <self_test/self_test.h>

// ROS Messages
#include <sensor_msgs/fill_image.h>

// ROS Services
#include <photo/GetConfig.h>
#include <photo/SetConfig.h>
#include <photo/Capture.h>

// photo library headers
#include "photo/photo_camera_list.hpp"
#include "photo/photo_camera.hpp"
#include "photo/photo_image.hpp"


class PhotoNode
{
public:
  photo_camera_list camera_list_;
  photo_camera camera_;
  photo_image image_;

  boost::mutex photo_mutex_ ;

  ros::ServiceServer set_config_srv_;
  ros::ServiceServer get_config_srv_;
  ros::ServiceServer capture_srv_;

  PhotoNode() :
    camera_list_(),
    camera_(),
    image_()
  {
    
    ros::NodeHandle private_nh("~");
    GPContext* private_context;

    // initialize camera

    // create context
    private_context = camera_.photo_camera_create_context();

    // autodetect all cameras connected
    if( camera_list_.autodetect( private_context ) == false )
    {
      ROS_FATAL( "photo_node: Autodetection of cameras failed." );
      gp_context_unref( private_context );
      private_nh.shutdown();
      return;
    }

    // open camera from camera list
    if( camera_.photo_camera_open( &camera_list_, 0 ) == false )
    {
      ROS_FATAL( "photo_node: Could not open camera %d.", 0 );
      gp_context_unref( private_context );
      private_nh.shutdown();
      return;
    }
    
    // ***** Start Services *****
    set_config_srv_ = private_nh.advertiseService("set_config", &PhotoNode::setConfig, this);
    get_config_srv_ = private_nh.advertiseService("get_config", &PhotoNode::getConfig, this);
    capture_srv_ = private_nh.advertiseService("capture", &PhotoNode::capture, this);
  }

  ~PhotoNode()
  {
    // shutdown camera
    camera_.photo_camera_close();
  }

  bool setConfig( photo::SetConfig::Request& req, photo::SetConfig::Response& resp )
  {
    photo_mutex_.lock();
    bool error_code = camera_.photo_camera_set_config( req.param, req.value );
    photo_mutex_.unlock();
    return error_code;
  }

  bool getConfig( photo::GetConfig::Request& req, photo::GetConfig::Response& resp )
  {
    char* value = new char[255];
    photo_mutex_.lock();
    bool error_code = camera_.photo_camera_get_config( req.param, &value );
    if( error_code )
    {
      resp.value = value;
    }
    photo_mutex_.unlock();
    delete value;
    return error_code;
  }

  bool capture( photo::Capture::Request& req, photo::Capture::Response& resp )
  {
    // capture a camera image
    photo_mutex_.lock();
    bool error_code = camera_.photo_camera_capture( &image_ );
    if( error_code )
    {
      // fill image message
      fillImage( resp.image, "rgb8", image_.getHeight(), image_.getWidth(), image_.getBytesPerPixel() * image_.getWidth(), image_.getDataAddress() );
    }
    photo_mutex_.unlock();
    return error_code;
  }
};

int main(int argc, char **argv)
{
  ros::init(argc, argv, "photo");
  PhotoNode a;
  ros::spin();

  return 0;
}