Program Listing for File stcamera_interface.hpp

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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