driver1394.h

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/* -*- mode: C++ -*- */
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#include <boost/thread/mutex.hpp>

#include <ros/ros.h>
#include <camera_info_manager/camera_info_manager.h>
#include <diagnostic_updater/diagnostic_updater.h>
#include <diagnostic_updater/publisher.h>
#include <dynamic_reconfigure/server.h>
#include <image_transport/image_transport.h>
#include <sensor_msgs/CameraInfo.h>

#include "dev_camera1394.h"
#include "camera1394/Camera1394Config.h"
#include "camera1394/GetCameraRegisters.h"
#include "camera1394/SetCameraRegisters.h"

typedef camera1394::Camera1394Config Config;

namespace camera1394_driver
{

// Dynamic reconfiguration levels
//
// Must agree with SensorLevels class in cfg/Camera1394.cfg
class Levels
{
public:
  static const uint32_t RECONFIGURE_CLOSE = 3;   // Close the device to change
  static const uint32_t RECONFIGURE_STOP = 1;    // Stop the device to change
  static const uint32_t RECONFIGURE_RUNNING = 0; // Parameters that can change any time
};

class Camera1394Driver
{
public:

  // driver states
  static const uint8_t CLOSED = 0;   // Not connected to the device
  static const uint8_t OPENED = 1;   // Connected to the camera, ready to stream
  static const uint8_t RUNNING = 2;  // Streaming images

  // public methods
  Camera1394Driver(ros::NodeHandle priv_nh,
                   ros::NodeHandle camera_nh);
  ~Camera1394Driver();
  void poll(void);
  void setup(void);
  void shutdown(void);

private:

  // private methods
  void closeCamera();
  bool openCamera(Config &newconfig);
  void publish(const sensor_msgs::ImagePtr &image);
  bool read(sensor_msgs::ImagePtr &image);
  void reconfig(camera1394::Camera1394Config &newconfig, uint32_t level);

  bool getCameraRegisters(camera1394::GetCameraRegisters::Request &request,
                          camera1394::GetCameraRegisters::Response &response);
  bool setCameraRegisters(camera1394::SetCameraRegisters::Request &request,
                          camera1394::SetCameraRegisters::Response &response);

  boost::mutex mutex_;

  volatile uint8_t state_;              // current driver state
  volatile bool reconfiguring_;         // true when reconfig() running
  ros::NodeHandle priv_nh_;             // private node handle
  ros::NodeHandle camera_nh_;           // camera name space handle
  std::string camera_name_;             // camera name
  ros::Rate cycle_;                     // polling rate when closed
  uint32_t retries_;                    // count of openCamera() retries
  uint32_t consecutive_read_errors_;   // number of consecutive read errors
  
  boost::shared_ptr<camera1394::Camera1394> dev_;

  camera1394::Camera1394Config config_;
  dynamic_reconfigure::Server<camera1394::Camera1394Config> srv_;

  boost::shared_ptr<camera_info_manager::CameraInfoManager> cinfo_;
  bool calibration_matches_;            // CameraInfo matches video mode

  boost::shared_ptr<image_transport::ImageTransport> it_;
  image_transport::CameraPublisher image_pub_;

  ros::ServiceServer get_camera_registers_srv_;
  ros::ServiceServer set_camera_registers_srv_;

  diagnostic_updater::Updater diagnostics_;
  double topic_diagnostics_min_freq_;
  double topic_diagnostics_max_freq_;
  diagnostic_updater::TopicDiagnostic topic_diagnostics_;

}; // end class Camera1394Driver

}; // end namespace camera1394_driver