nodelet.cpp

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/* $Id: nodelet.cpp 35613 2011-01-30 11:46:37Z joq $ */

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* Software License Agreement (BSD License)
*
*  Copyright (c) 2010 Jack O'Quin
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#include <signal.h>

#include <boost/thread.hpp>

#include <ros/ros.h>
#include <pluginlib/class_list_macros.h>
#include <nodelet/nodelet.h>

#include "driver1394stereo.h"

class Camera1394StereoNodelet: public nodelet::Nodelet
{
public:
  Camera1394StereoNodelet():
    running_(false)
  {}

  ~Camera1394StereoNodelet()
  {
    if (running_)
      {
        NODELET_INFO("shutting down driver thread");
        running_ = false;
        deviceThread_->join();
        NODELET_INFO("driver thread stopped");
      }
    dvr_->shutdown();
  }

private:
  virtual void onInit();
  virtual void devicePoll();

  volatile bool running_;               
  boost::shared_ptr<camera1394stereo_driver::Camera1394StereoDriver> dvr_;
  boost::shared_ptr<boost::thread> deviceThread_;
};

void Camera1394StereoNodelet::onInit()
{
  ros::NodeHandle priv_nh(getPrivateNodeHandle());
  ros::NodeHandle node(getNodeHandle());
  ros::NodeHandle camera_nh(node, "stereo_camera");
  dvr_.reset(new camera1394stereo_driver::Camera1394StereoDriver(priv_nh, camera_nh));
  dvr_->setup();

  // spawn device thread
  running_ = true;
  deviceThread_ = boost::shared_ptr< boost::thread >
    (new boost::thread(boost::bind(&Camera1394StereoNodelet::devicePoll, this)));
}

void Camera1394StereoNodelet::devicePoll()
{
  while (running_)
    {
      dvr_->poll();
    }
}

// Register this plugin with pluginlib.  Names must match nodelet_velodyne.xml.
//
// parameters are: package, class name, class type, base class type
PLUGINLIB_DECLARE_CLASS(camera1394stereo, driver,
                        Camera1394StereoNodelet, nodelet::Nodelet);