usb_cam.h

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#ifndef USB_CAM_USB_CAM_H
#define USB_CAM_USB_CAM_H
 
#include <ros/forwards.h>
#include "usb_cam/camera_driver.h"
 
#include <ros/ros.h>
#include <sensor_msgs/Image.h>
#include <image_transport/image_transport.h>
#include <camera_info_manager/camera_info_manager.h>
#include <std_srvs/Empty.h>
#include <std_srvs/Trigger.h>
 
namespace usb_cam
{
 
class UsbCam: public AbstractV4LUSBCam
{
private:
    /* SINGLETON */
    explicit UsbCam();
    virtual ~UsbCam();
    UsbCam(const UsbCam& root) = delete;
    UsbCam operator=(const UsbCam& root) = delete;
protected:
    static bool create_suspended;
 
    /* ROS */
    ros::NodeHandle node;
    ros::Timer _frame_timer;
    static ros::Timer* frame_timer;
    static void frame_timer_callback(const ros::TimerEvent& event);
 
    /* Image stream publisher */
    sensor_msgs::Image _img_msg; // img_
    static sensor_msgs::Image* img_msg;
    image_transport::CameraPublisher _image_pub;
    static image_transport::CameraPublisher* image_pub;
    static camera_info_manager::CameraInfoManager* camera_info; // cinfo_
    image_transport::ImageTransport _image_transport; // it_
    static image_transport::ImageTransport* image_transport;
 
    /* Service servers */
    std::string _service_start_name;
    ros::ServiceServer _service_start;
    static ros::ServiceServer* service_start;
    static bool service_start_callback(std_srvs::Empty::Request& request,
                                       std_srvs::Empty::Response& response);
    std::string _service_stop_name;
    ros::ServiceServer _service_stop;
    static ros::ServiceServer* service_stop;
    static bool service_stop_callback(std_srvs::Empty::Request& request,
                                      std_srvs::Empty::Response& response);
    ros::ServiceServer _service_supported_formats;
    static ros::ServiceServer* service_supported_formats;
    static bool service_supported_formats_callback(std_srvs::Trigger::Request& request,
                                                   std_srvs::Trigger::Response& response);
    ros::ServiceServer _service_supported_controls;
    static ros::ServiceServer* service_supported_controls;
    static bool service_supported_controls_callback(std_srvs::Trigger::Request& request,
                                                    std_srvs::Trigger::Response& response);
 
    /* Node parameters */
    static std::string camera_name;
    static std::string camera_frame_id;
    static std::string camera_transport_suffix;
    static std::string camera_info_url;
 
public:
    static UsbCam& Instance();
};
 
}
 
#endif