.. _program_listing_file_include_realsense_node_factory.h:

Program Listing for File realsense_node_factory.h
=================================================

|exhale_lsh| :ref:`Return to documentation for file <file_include_realsense_node_factory.h>` (``include/realsense_node_factory.h``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // Copyright 2023 Intel Corporation. All Rights Reserved.
   //
   // Licensed under the Apache License, Version 2.0 (the "License");
   // you may not use this file except in compliance with the License.
   // You may obtain a copy of the License at
   //
   //     http://www.apache.org/licenses/LICENSE-2.0
   //
   // Unless required by applicable law or agreed to in writing, software
   // distributed under the License is distributed on an "AS IS" BASIS,
   // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   // See the License for the specific language governing permissions and
   // limitations under the License.
   
   #pragma once
   
   // cpplint: c system headers
   #include "constants.h"
   #include "base_realsense_node.h"
   #include <builtin_interfaces/msg/time.hpp>
   #include <console_bridge/console.h>
   #include <rclcpp/rclcpp.hpp>
   #include "rclcpp_components/register_node_macro.hpp"
   #include <algorithm>
   #include <csignal>
   #include <iostream>
   #include <limits>
   #include <map>
   #include <memory>
   #include <string>
   #include <utility>
   #include <vector>
   #include <thread>
   
   namespace realsense2_camera
   {
       class RealSenseNodeFactory : public rclcpp::Node
       {
       public:
           explicit RealSenseNodeFactory(const rclcpp::NodeOptions & node_options = rclcpp::NodeOptions());
           RealSenseNodeFactory(
               const std::string & node_name, const std::string & ns,
               const rclcpp::NodeOptions & node_options = rclcpp::NodeOptions());
           virtual ~RealSenseNodeFactory();
   
       private:
           void init();
           void closeDevice();
           void startDevice();
           void changeDeviceCallback(rs2::event_information& info);
           void getDevice(rs2::device_list list);
           void tryGetLogSeverity(rs2_log_severity& severity) const;
           static std::string parseUsbPort(std::string line);
   
           rclcpp::Node::SharedPtr _node;
           rs2::device _device;
           std::unique_ptr<BaseRealSenseNode> _realSenseNode;
           rs2::context _ctx;
           std::string _serial_no;
           std::string _usb_port_id;
           std::string _device_type;
           double _wait_for_device_timeout;
           double _reconnect_timeout;
           bool _initial_reset;
           std::thread _query_thread;
           bool _is_alive;
           rclcpp::Logger _logger;
           std::shared_ptr<Parameters> _parameters;
       };
   }//end namespace