device_nodelet.h

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/*
 * Copyright (c) 2017 Roboception GmbH
 * All rights reserved
 *
 * Author: Heiko Hirschmueller
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 * 1. Redistributions of source code must retain the above copyright notice,
 * this list of conditions and the following disclaimer.
 *
 * 2. Redistributions in binary form must reproduce the above copyright notice,
 * this list of conditions and the following disclaimer in the documentation
 * and/or other materials provided with the distribution.
 *
 * 3. Neither the name of the copyright holder nor the names of its contributors
 * may be used to endorse or promote products derived from this software without
 * specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */

#ifndef RC_VISARD_DRIVERNODELET_H
#define RC_VISARD_DRIVERNODELET_H

#include <nodelet/nodelet.h>
#include <dynamic_reconfigure/server.h>
#include <rc_visard_driver/rc_visard_driverConfig.h>
#include <std_srvs/Trigger.h>

#include <GenApi/GenApi.h>
#include <rc_genicam_api/device.h>
#include <rc_dynamics_api/remote_interface.h>

#include <thread>
#include <mutex>
#include <atomic>

#include "protobuf2ros_stream.h"
#include "ThreadedStream.h"


namespace rc
{

class DeviceNodelet : public nodelet::Nodelet
{
  public:

    DeviceNodelet();
    virtual ~DeviceNodelet();

    virtual void onInit();

    bool startDynamics(std_srvs::Trigger::Request &req,
                       std_srvs::Trigger::Response &resp);
    bool restartDynamics(std_srvs::Trigger::Request &req,
                         std_srvs::Trigger::Response &resp);
    bool stopDynamics(std_srvs::Trigger::Request &req,
                      std_srvs::Trigger::Response &resp);

  private:

    static ThreadedStream::Ptr CreateDynamicsStreamOfType(
            rc::dynamics::RemoteInterface::Ptr rcdIface,
            const std::string &stream, ros::NodeHandle &nh,
            const std::string &frame_id_prefix, bool tfEnabled);

    void initConfiguration(const std::shared_ptr<GenApi::CNodeMapRef> &nodemap,
      rc_visard_driver::rc_visard_driverConfig &cfg, rcg::Device::ACCESS access);

    void reconfigure(rc_visard_driver::rc_visard_driverConfig &config, uint32_t level);

    void grab(std::string device, rcg::Device::ACCESS access);

    void keepAliveAndRecoverFromFails();

    dynamic_reconfigure::Server<rc_visard_driver::rc_visard_driverConfig> *reconfig;

    bool dev_supports_gain;
    bool dev_supports_wb;

    std::shared_ptr<rcg::Device> rcgdev;
    std::shared_ptr<GenApi::CNodeMapRef> rcgnodemap;

    std::mutex mtx;
    rc_visard_driver::rc_visard_driverConfig config;
    std::atomic_uint_least32_t level;

    std::thread imageThread;
    std::atomic_bool stopImageThread, imageRequested, imageSuccess;

    std::thread recoverThread;
    std::atomic_bool stopRecoverThread;
    bool recoveryRequested;
    int cntConsecutiveRecoveryFails;

    ThreadedStream::Manager::Ptr dynamicsStreams;

    rc::dynamics::RemoteInterface::Ptr dynamicsInterface;
    ros::ServiceServer dynamicsStartService;
    ros::ServiceServer dynamicsRestartService;
    ros::ServiceServer dynamicsStopService;
    bool autostartDynamics, autostopDynamics;

    std::string tfPrefix;

    bool tfEnabled;
};

}

#endif