OptrisImager.h

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#ifndef _OPTRISIMAGER_H_
#define _OPTRISIMAGER_H_

#include "libirimager/IRDevice.h"
#include "libirimager/IRImager.h"
#include "libirimager/IRImagerClient.h"

#include "ros/ros.h"
#include <image_transport/image_transport.h>
#include <sensor_msgs/TimeReference.h>
#include "std_msgs/Float32.h"
#include "std_srvs/Empty.h"
#include "optris_drivers/AutoFlag.h"
#include "optris_drivers/TemperatureRange.h"
#include "optris_drivers/Temperature.h"
#include "optris_drivers/Flag.h"

namespace optris_drivers
{

class OptrisImager : public evo::IRImagerClient
{
public:

  OptrisImager(evo::IRDevice* dev, evo::IRDeviceParams params);

  virtual ~OptrisImager();

  void run();

  void onTimer(const ros::TimerEvent& event);

  virtual void onRawFrame(unsigned char* data, int size) {};

  virtual void onThermalFrame(unsigned short* image, unsigned int w, unsigned int h, evo::IRFrameMetadata meta, void* arg);

  virtual void onVisibleFrame(unsigned char* image, unsigned int w, unsigned int h, evo::IRFrameMetadata meta, void* arg);

  virtual void onFlagStateChange(evo::EnumFlagState flagstate, void* arg);

  virtual void onProcessExit(void* arg);

  bool onAutoFlag(AutoFlag::Request &req, AutoFlag::Response &res);

  bool onForceFlag(std_srvs::Empty::Request& req, std_srvs::Empty::Response& res);

  bool onSetTemperatureRange(TemperatureRange::Request &req, TemperatureRange::Response &res);

private:

  evo::IRImager _imager;

  evo::IRDevice* _dev;

  unsigned int _img_cnt;

  unsigned char* _bufferRaw;

  sensor_msgs::Image _thermal_image;

  sensor_msgs::Image _visible_image;

  sensor_msgs::TimeReference _device_timer;

  optris_drivers::Temperature _internal_temperature;

  image_transport::Publisher _thermal_pub;

  image_transport::Publisher _visible_pub;

  ros::Publisher _temp_pub;

  ros::Publisher _timer_pub;

  ros::Publisher _flag_pub;

  ros::ServiceServer _sAuto;

  ros::ServiceServer _sForce;

  ros::ServiceServer _sTemp;
};

} //namespace

#endif // _OPTRISIMAGER_H_