genicam_device_nodelet.h

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/*
 * Copyright (c) 2020 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_GENICAM_DRIVERNODELET_H
#define RC_GENICAM_DRIVERNODELET_H

#include "publishers/genicam2ros_publisher.h"

#include <nodelet/nodelet.h>
#include <dynamic_reconfigure/server.h>
#include <rc_genicam_driver/rc_genicam_driverConfig.h>
#include <rc_common_msgs/Trigger.h>

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

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

#include <diagnostic_updater/diagnostic_updater.h>

namespace rc
{
class GenICamDeviceNodelet : public nodelet::Nodelet
{
public:
  GenICamDeviceNodelet();
  virtual ~GenICamDeviceNodelet();

  virtual void onInit();

  bool depthAcquisitionTrigger(rc_common_msgs::Trigger::Request& req, rc_common_msgs::Trigger::Response& resp);

private:
  void initConfiguration();

  void reconfigure(rc_genicam_driver::rc_genicam_driverConfig& c, uint32_t level);

  void updateSubscriptions(bool force = false);

  void subChanged();

  void publishConnectionDiagnostics(diagnostic_updater::DiagnosticStatusWrapper& stat);
  void publishDeviceDiagnostics(diagnostic_updater::DiagnosticStatusWrapper& stat);

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

  std::string frame_id;
  ros::ServiceServer trigger_service;

  boost::recursive_mutex reconfig_mtx;
  dynamic_reconfigure::Server<rc_genicam_driver::rc_genicam_driverConfig>* reconfig;
  rc_genicam_driver::rc_genicam_driverConfig config;

  std::recursive_mutex device_mtx;
  std::shared_ptr<rcg::Device> dev;
  std::shared_ptr<GenApi::CNodeMapRef> nodemap;

  std::string color_format;
  int scomponents;
  bool scolor;

  std::thread grab_thread;
  std::atomic_bool running;

  std::vector<std::shared_ptr<GenICam2RosPublisher> > pub;

  std::string device_model;
  std::string device_version;
  std::string device_serial;
  std::string device_mac;
  std::string device_name;
  std::string device_interface;
  std::string device_ip;
  int gev_packet_size;
  int connection_loss_total;
  int complete_buffers_total;
  int incomplete_buffers_total;
  int image_receive_timeouts_total;
  int current_reconnect_trial;
  bool streaming;

  diagnostic_updater::Updater updater;
};

}  // namespace rc

#endif