.. _program_listing_file__tmp_ws_src_stcamera_ros2_stcamera_components_include_stcamera_interface.hpp:

Program Listing for File stcamera_interface.hpp
===============================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_stcamera_ros2_stcamera_components_include_stcamera_interface.hpp>` (``/tmp/ws/src/stcamera_ros2/stcamera_components/include/stcamera_interface.hpp``)

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

.. code-block:: cpp

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   #ifndef STCAMERA_STCAMERA_INTERFACE_H
   #define STCAMERA_STCAMERA_INTERFACE_H
   
   #include <mutex>
   #include <rclcpp/rclcpp.hpp>
   #include <image_transport/image_transport.hpp>
   #include <camera_info_manager/camera_info_manager.hpp>
   #include <sensor_msgs/image_encodings.hpp>
   
   #include "stparameter.hpp"
   #include "stheader.hpp"
   #include "stcamera_msgs.hpp"
   
   namespace stcamera
   {
   #define RETURN_ERR_RES(X, MSG, RES) \
     { std::stringstream ss_error; ss_error << __FILE__ << " " << __func__ << " " << __LINE__ << ":" << getTextForMsg().c_str() << " error: " << MSG; \
     RCLCPP_ERROR(get_logger(), ss_error.str().c_str()); \
     RES->error_info.error_code = X; RES->error_info.description = ss_error.str(); return(false);}
   #define RETURN_SUCCESS(RES) \
     RES->error_info.error_code = OSError_Success;  \
     return(true);
     //RES->error_info.description = "";
   #define CHECK_NULLPTR_RES(P, X, MSG, RES) if (nullptr == P) \
     { RETURN_ERR_RES(X, MSG, RES); } 
   
     class StCameraInterface;
   
     typedef std::map<std::string, StCameraInterface*> MapCameraInterface; 
   
   
     typedef std::map<std::string, rclcpp::Publisher<stcamera_msgs::msg::Event>::SharedPtr> MapPublisher;
   
     class StCameraInterface
     {
       public:
   
         StCameraInterface(rclcpp::Node *nh_parent, 
                           const std::string &camera_namespace, 
                           StParameter *param,
                           rclcpp::Clock &clock);
   
         virtual ~StCameraInterface();
   
         virtual bool deviceIsLost() = 0;
   
       protected:
         const std::string &getTextForMsg() const {return(camera_namespace_);}
   
         std::shared_ptr<rclcpp::Node> nh_;
   
         rclcpp::Node *parent_nh_; 
   
         const std::string camera_namespace_;
   
         StParameter *param_;
   
         rclcpp::Clock &clock_;
   
         rclcpp::Logger get_logger() const{return(parent_nh_->get_logger());}
     };
   }
   #endif