Program Listing for File stcamera_node_impl.hpp
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#ifndef STCAMERA_STCAMERA_NODE_IMPL_H
#define STCAMERA_STCAMERA_NODE_IMPL_H
#include "../stcamera_node.hpp"
#include <StApi_TL.h>
namespace stcamera
{
class StCameraNodeImpl
{
public:
explicit StCameraNodeImpl(StCameraNode *p_stcamera_node);
~StCameraNodeImpl();
void DetectingAndOpenningDevices();
bool initializeCamera(StApi::IStInterface *p_iface,
const StApi::IStDeviceInfo *p_devinfo);
bool getDeviceListCallback(
const std::shared_ptr<stcamera_msgs::srv::GetDeviceList_Request> req,
std::shared_ptr<stcamera_msgs::srv::GetDeviceList_Response> res);
bool getSDKInfoCallback(
const std::shared_ptr<stcamera_msgs::srv::GetSDKInfo_Request> req,
std::shared_ptr<stcamera_msgs::srv::GetSDKInfo_Response> res);
bool getModuleListCallback(
const std::shared_ptr<stcamera_msgs::srv::GetModuleList_Request> req,
std::shared_ptr<stcamera_msgs::srv::GetModuleList_Response> res);
void initSystemsAndInterfaces();
protected:
const std::string &getTextForMsg() const {return(stcamera_node_text_);}
rclcpp::Logger get_logger()
{
return(p_stcamera_node_->get_logger());
}
protected:
rclcpp::Clock clock_;
MapCameraInterface map_camera_;
MapDeviceConnection map_connection_;
StApi::CStApiAutoInit stapi_autoinit_;
StApi::CIStSystemPtrArray stapi_systems_;
StCameraNode *p_stcamera_node_;
const std::string stcamera_node_text_;
private:
std::mutex mtx_update_device_list_;
std::mutex mtx_map_camera_;
};
}
#endif //STCAMERA_STCAMERA_NODE_IMPL_H