gazebo_gst_camera_plugin.h

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/*
 * Copyright (C) 2012-2016 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/
#pragma once

#include <string>
#include <mutex>

#include "gazebo/common/Plugin.hh"
#include "gazebo/sensors/CameraSensor.hh"
#include "gazebo/gazebo.hh"
#include "gazebo/common/common.hh"
#include "gazebo/rendering/Camera.hh"
#include "gazebo/util/system.hh"
#include "gazebo/transport/transport.hh"
#include "gazebo/msgs/msgs.hh"

#include <gst/gst.h>

namespace gazebo
{


class GAZEBO_VISIBLE GstCameraPlugin : public SensorPlugin
{
  public: GstCameraPlugin();

  public: virtual ~GstCameraPlugin();

  public: virtual void Load(sensors::SensorPtr sensor, sdf::ElementPtr sdf);

  public: virtual void OnNewFrame(const unsigned char *image,
                unsigned int width, unsigned int height,
                unsigned int depth, const std::string &format);

  public: void startGstThread();
  public: void gstCallback(GstElement *appsrc);

  protected: unsigned int width, height, depth;
  float rate;
  protected: std::string format;

  protected: int udpPort;

  protected: sensors::CameraSensorPtr parentSensor;
  protected: rendering::CameraPtr camera;

  private: event::ConnectionPtr newFrameConnection;

  private: transport::NodePtr node_handle_;
  private: std::string namespace_;
  private: const std::string topicName = "gst_video";

  GstBuffer *frameBuffer;
  std::mutex frameBufferMutex;
  GMainLoop *mainLoop;
  GstClockTime gstTimestamp;

};

} /* namespace gazebo */