nodelet.cpp

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/* $Id$ */

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*  Copyright (c) 2010 Jack O'Quin, 2013 Séverin Lemaignan
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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 "naoqi_camera.h"

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

  ~NaoqiCameraNodelet()
  {
    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<naoqicamera_driver::NaoqiCameraDriver> dvr_;
  boost::shared_ptr<boost::thread> deviceThread_;
};

void NaoqiCameraNodelet::onInit()
{
  ros::NodeHandle priv_nh(getPrivateNodeHandle());
  ros::NodeHandle node(getNodeHandle());
  ros::NodeHandle camera_nh(node, "camera");
  //TODO: allow for passing host/port of broker!
  int argc = 0;
  char* argv = "";
  dvr_.reset(new naoqicamera_driver::NaoqiCameraDriver(argc, &argv, priv_nh, camera_nh));
  dvr_->setup();

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

void NaoqiCameraNodelet::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(naoqicamera, driver,
                        NaoqiCameraNodelet, nodelet::Nodelet);