Program Listing for File image_saver_node.hpp

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// Copyright 2019, Joshua Whitley
//
// 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.

#ifndef IMAGE_VIEW__IMAGE_SAVER_NODE_HPP_
#define IMAGE_VIEW__IMAGE_SAVER_NODE_HPP_

#include <memory>
#include <string>

#include <boost/format.hpp>

#include <rclcpp/rclcpp.hpp>
#include <image_transport/image_transport.hpp>
#include <std_srvs/srv/empty.hpp>
#include <std_srvs/srv/trigger.hpp>

namespace image_view
{

class ImageSaverNode
  : public rclcpp::Node
{
public:
  explicit ImageSaverNode(const rclcpp::NodeOptions & options);

private:
  boost::format g_format;
  bool stamped_filename_;
  bool save_all_image_{false};
  bool save_image_service_{false};
  std::string encoding_;
  bool request_start_end_{false};
  bool is_first_image_{true};
  bool has_camera_info_{false};
  size_t count_{0u};
  rclcpp::Time start_time_;
  rclcpp::Time end_time_;
  image_transport::CameraSubscriber cam_sub_;
  image_transport::Subscriber image_sub_;
  rclcpp::Service<std_srvs::srv::Empty>::SharedPtr save_srv_;
  rclcpp::Service<std_srvs::srv::Trigger>::SharedPtr start_srv_;
  rclcpp::Service<std_srvs::srv::Trigger>::SharedPtr end_srv_;

  bool saveImage(const sensor_msgs::msg::Image::ConstSharedPtr & image_msg, std::string & filename);
  bool service(
    const std::shared_ptr<rmw_request_id_t> request_header,
    const std::shared_ptr<std_srvs::srv::Empty::Request> request,
    std::shared_ptr<std_srvs::srv::Empty::Response> response);
  bool callbackStartSave(
    const std::shared_ptr<rmw_request_id_t> request_header,
    const std::shared_ptr<std_srvs::srv::Trigger::Request> request,
    std::shared_ptr<std_srvs::srv::Trigger::Response> response);
  bool callbackEndSave(
    const std::shared_ptr<rmw_request_id_t> request_header,
    const std::shared_ptr<std_srvs::srv::Trigger::Request> request,
    std::shared_ptr<std_srvs::srv::Trigger::Response> response);
  void callbackWithoutCameraInfo(const sensor_msgs::msg::Image::ConstSharedPtr & image_msg);
  void callbackWithCameraInfo(
    const sensor_msgs::msg::Image::ConstSharedPtr & image_msg,
    const sensor_msgs::msg::CameraInfo::ConstSharedPtr & info);
};

}  // namespace image_view

#endif  // IMAGE_VIEW__IMAGE_SAVER_NODE_HPP_