stcamera_node.h

Go to the documentation of this file.

/******************************************************************************
 * Software License Agreement (BSD License)
 *
 * Copyright (C) 2018, OMRON SENTECH. All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *   * Redistributions of source code must retain the above copyright notice,
 *   this list of conditions and the following disclaimer.
 *   * 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.
 *   * Neither the names of OMRON SENTECH 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 OWNER 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
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 *****************************************************************************/

#ifndef STCAMERA_STCAMERA_NODE_H
#define STCAMERA_STCAMERA_NODE_H

#include <ros/ros.h>
#include <StApi_TL.h>

#include "omronsentech_camera/stparameter.h"
#include "omronsentech_camera/stcamera_interface.h"

#include <omronsentech_camera/GenTLInfo.h>
#include <omronsentech_camera/DeviceConnection.h>
#include <omronsentech_camera/GetDeviceList.h>
#include <omronsentech_camera/GetModuleList.h>
#include <omronsentech_camera/GetSDKInfo.h>
#include <omronsentech_camera/GetGigEIPi.h>
#include <omronsentech_camera/SetGigEIPi.h>

namespace stcamera
{
  typedef std::map<std::string, omronsentech_camera::DeviceConnection> 
      MapDeviceConnection;

  class StCameraNode
  {
    public:

      StCameraNode();

      StCameraNode(ros::NodeHandle nh);

      virtual ~StCameraNode();

      virtual void init();

      virtual void spin();

    protected:

      bool initializeCamera(StApi::IStInterface *p_iface,
                            const StApi::IStDeviceInfo *p_devinfo);


      bool getDeviceListCallback(
          omronsentech_camera::GetDeviceList::Request &req,
          omronsentech_camera::GetDeviceList::Response &res);

      bool getModuleListCallback(
          omronsentech_camera::GetModuleList::Request &req,
          omronsentech_camera::GetModuleList::Response &res);

      bool getSDKInfoCallback(omronsentech_camera::GetSDKInfo::Request &req,
          omronsentech_camera::GetSDKInfo::Response &res);

      bool getGigEIPCallback(omronsentech_camera::GetGigEIPi::Request &req,
          omronsentech_camera::GetGigEIPi::Response &res);

      bool setGigEIPCallback(omronsentech_camera::SetGigEIPi::Request &req,
          omronsentech_camera::SetGigEIPi::Response &res);
      
      ros::NodeHandle nh_;

      MapCameraInterface map_camera_;

      MapDeviceConnection map_connection_;

      StParameter param_;

      ros::Publisher msg_device_connection_;
      
      ros::ServiceServer      srv_get_device_list_;
      ros::ServiceServer      srv_get_module_list_; 
      ros::ServiceServer      srv_get_sdk_info_;
      ros::ServiceServer      srv_get_gige_ip_i_;
      ros::ServiceServer      srv_set_gige_ip_i_;
      
      StApi::CStApiAutoInit stapi_autoinit_;

      StApi::CIStSystemPtrArray stapi_systems_;

    private:

      omronsentech_camera::DeviceConnection fillDeviceConnectionData(
          const StApi::IStSystemInfo *p_tlinfo,
          StApi::IStInterface  *p_iface,
          const StApi::IStDeviceInfo *p_devinfo,
          std::string device_namespace = "",
          bool connected = false);

      std::mutex mtx_update_device_list_;

      std::mutex mtx_map_camera_;
  };
}
#endif