00001 /* -*- mode: C++ -*- */ 00002 /* $Id$ */ 00003 00004 /********************************************************************* 00005 * Software License Agreement (BSD License) 00006 * 00007 * Copyright (c) 2010 Jack O'Quin 00008 * All rights reserved. 00009 * 00010 * Redistribution and use in source and binary forms, with or without 00011 * modification, are permitted provided that the following conditions 00012 * are met: 00013 * 00014 * * Redistributions of source code must retain the above copyright 00015 * notice, this list of conditions and the following disclaimer. 00016 * * Redistributions in binary form must reproduce the above 00017 * copyright notice, this list of conditions and the following 00018 * disclaimer in the documentation and/or other materials provided 00019 * with the distribution. 00020 * * Neither the name of the author nor other contributors may be 00021 * used to endorse or promote products derived from this software 00022 * without specific prior written permission. 00023 * 00024 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00025 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00026 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00027 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00028 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00029 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00030 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00031 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00032 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00033 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00034 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00035 * POSSIBILITY OF SUCH DAMAGE. 00036 *********************************************************************/ 00037 00038 #include <boost/thread/mutex.hpp> 00039 00040 #include <ros/ros.h> 00041 #include <camera_info_manager/camera_info_manager.h> 00042 #include <diagnostic_updater/diagnostic_updater.h> 00043 #include <diagnostic_updater/publisher.h> 00044 #include <driver_base/driver.h> 00045 #include <dynamic_reconfigure/server.h> 00046 #include <image_transport/image_transport.h> 00047 #include <sensor_msgs/CameraInfo.h> 00048 00049 // Aldebaran includes 00050 #include <alproxies/alvideodeviceproxy.h> 00051 00052 #include <naoqi_driver/naoqi_node.h> 00053 00054 #include "naoqi_sensors/NaoqiCameraConfig.h" 00055 typedef naoqicamera::NaoqiCameraConfig Config; 00056 00063 namespace naoqicamera_driver 00064 { 00065 00067 // (std::runtime_error should be top parent) 00068 // code borrowed from drivers/laser/hokuyo_driver/hokuyo.h 00069 #define DEF_EXCEPTION(name, parent) \ 00070 class name : public parent { \ 00071 public: \ 00072 name (const char* msg) : parent (msg) {} \ 00073 } 00074 00076 DEF_EXCEPTION(Exception, std::runtime_error); 00077 00078 00079 class NaoqiCameraDriver : public NaoqiNode 00080 { 00081 public: 00082 00083 // public methods 00084 NaoqiCameraDriver(int argc, char ** argv, 00085 ros::NodeHandle priv_nh, 00086 ros::NodeHandle camera_nh); 00087 ~NaoqiCameraDriver(); 00088 void poll(void); 00089 void setup(void); 00090 void shutdown(void); 00091 00092 private: 00093 00094 // private methods 00095 void getNaoqiParams(ros::NodeHandle priv_nh); 00096 void closeCamera(); 00097 bool openCamera(Config &newconfig); 00098 void publish(const sensor_msgs::ImagePtr &image); 00099 bool read(sensor_msgs::ImagePtr &image); 00100 void reconfig(naoqicamera::NaoqiCameraConfig &newconfig, uint32_t level); 00101 00103 volatile driver_base::Driver::state_t state_; // current driver state 00104 boost::mutex reconfiguration_mutex_; // critical section of poll() and reconfigure() 00105 00106 ros::NodeHandle priv_nh_; // private node handle 00107 ros::NodeHandle camera_nh_; // camera name space handle 00108 std::string camera_name_; // camera name 00109 std::string frame_id_; // TF frame_id, either CameraTop_frame or CameraBottom_frame 00110 ros::Rate cycle_; // polling rate when closed 00111 ros::Rate real_frame_rate_; // requested fps, to cap publishing rate 00112 uint32_t retries_; // count of openCamera() retries 00113 00114 00116 boost::shared_ptr<AL::ALVideoDeviceProxy> camera_proxy_; 00117 00119 naoqicamera::NaoqiCameraConfig config_; 00120 dynamic_reconfigure::Server<naoqicamera::NaoqiCameraConfig> srv_; 00121 00123 boost::shared_ptr<camera_info_manager::CameraInfoManager> cinfo_; 00124 bool calibration_matches_; // CameraInfo matches video mode 00125 00127 boost::shared_ptr<image_transport::ImageTransport> it_; 00128 image_transport::CameraPublisher image_pub_; 00129 00131 diagnostic_updater::Updater diagnostics_; 00132 double topic_diagnostics_min_freq_; 00133 double topic_diagnostics_max_freq_; 00134 diagnostic_updater::TopicDiagnostic topic_diagnostics_; 00135 00136 }; // end class NaoqiCameraDriver 00137 00138 }; // end namespace naoqicamera_driver