sensor2D_nodelet.cpp

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/******************************************************************************
 * Copyright (c) 2016
 * VoXel Interaction Design GmbH
 *
 * @author Angel Merino Sastre
 *
 * Permission is hereby granted, free of charge, to any person obtaining a copy
 * of this software and associated documentation files (the "Software"), to deal
 * in the Software without restriction, including without limitation the rights
 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
 * copies of the Software, and to permit persons to whom the Software is
 * furnished to do so, subject to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included in
 * all copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
 * THE SOFTWARE.
 *
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#include <bta_tof_driver/sensor2D.hpp>
#include <nodelet/nodelet.h>
#include <boost/thread.hpp>

namespace bta_tof_driver {

        class Sensor2DNodelet : public nodelet::Nodelet {

        public:
                 Sensor2DNodelet() : 
                        nodelet::Nodelet(),
                        lp_(NULL),
                        stream_thread_(NULL)
                 {
                 };
                 
                virtual ~Sensor2DNodelet() 
                {
                        stream_thread_->join();
                };
        
        private:
                virtual void onInit() 
                {
                        NODELET_WARN_STREAM("Initializing nodelet..." << getName());
                
                        lp_.reset(new bta_tof_driver::Sensor2D(getNodeHandle(), getPrivateNodeHandle(), getName()));
                        stream_thread_.reset(new boost::thread(boost::bind(&Sensor2D::init, lp_.get())));
                };
                        boost::scoped_ptr<bta_tof_driver::Sensor2D> lp_;
                        boost::scoped_ptr<boost::thread> stream_thread_;
        };
        
}

#include <pluginlib/class_list_macros.h>
PLUGINLIB_EXPORT_CLASS(bta_tof_driver::Sensor2DNodelet, nodelet::Nodelet);