driver1394stereo.h

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/* -*- mode: C++ -*- */
/* $Id: driver1394.h 35611 2011-01-30 05:49:18Z joq $ */

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#include <boost/thread/mutex.hpp>

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

#include "dev_camera1394stereo.h"
#include "camera1394stereo/Camera1394StereoConfig.h"
typedef camera1394stereo::Camera1394StereoConfig Config;

namespace camera1394stereo_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 Camera1394StereoDriver
{
public:

  // public methods
  Camera1394StereoDriver(ros::NodeHandle priv_nh,
                   ros::NodeHandle camera_nh);
  ~Camera1394StereoDriver();
  void poll(void);
  void setup(void);
  void shutdown(void);

  // 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


private:

  enum CameraSelector {LEFT=0,RIGHT=1};
  static const int NUM_CAMERAS = 2;
  static const std::string CameraSelectorString[NUM_CAMERAS]; // = {"left","right"};

  // private methods
  void closeCamera();
  bool openCamera(Config &newconfig);
  void publish(const sensor_msgs::ImagePtr image[NUM_CAMERAS]);
  bool read(sensor_msgs::ImagePtr image[NUM_CAMERAS]);
  void reconfig(camera1394stereo::Camera1394StereoConfig &newconfig, uint32_t level);

  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
  ros::NodeHandle single_camera_nh_[NUM_CAMERAS]; // left/right camera name space handle
  std::string camera_name_;             // camera name

  boost::shared_ptr<camera1394stereo::Camera1394Stereo> dev_;

  camera1394stereo::Camera1394StereoConfig config_;
  dynamic_reconfigure::Server<camera1394stereo::Camera1394StereoConfig> srv_;
  ros::Rate cycle_;                     // polling rate when closed

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

  boost::shared_ptr<image_transport::ImageTransport> it_;
  image_transport::CameraPublisher image_pub_[NUM_CAMERAS];

}; // end class Camera1394Driver

}; // end namespace camera1394_driver