nodelet.cpp
Go to the documentation of this file.00001 /* $Id: nodelet.cpp 35613 2011-01-30 11:46:37Z joq $ */ 00002 00003 /********************************************************************* 00004 * Software License Agreement (BSD License) 00005 * 00006 * Copyright (c) 2010 Jack O'Quin 00007 * All rights reserved. 00008 * 00009 * Redistribution and use in source and binary forms, with or without 00010 * modification, are permitted provided that the following conditions 00011 * are met: 00012 * 00013 * * Redistributions of source code must retain the above copyright 00014 * notice, this list of conditions and the following disclaimer. 00015 * * Redistributions in binary form must reproduce the above 00016 * copyright notice, this list of conditions and the following 00017 * disclaimer in the documentation and/or other materials provided 00018 * with the distribution. 00019 * * Neither the name of the author nor other contributors may be 00020 * used to endorse or promote products derived from this software 00021 * without specific prior written permission. 00022 * 00023 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00024 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00025 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00026 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00027 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00028 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00029 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00030 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00031 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00032 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00033 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00034 * POSSIBILITY OF SUCH DAMAGE. 00035 *********************************************************************/ 00036 00037 #include <signal.h> 00038 00039 #include <boost/thread.hpp> 00040 00041 #include <ros/ros.h> 00042 #include <pluginlib/class_list_macros.h> 00043 #include <nodelet/nodelet.h> 00044 00045 #include "driver1394.h" 00046 00054 class Camera1394Nodelet: public nodelet::Nodelet 00055 { 00056 public: 00057 Camera1394Nodelet(): 00058 running_(false) 00059 {} 00060 00061 ~Camera1394Nodelet() 00062 { 00063 if (running_) 00064 { 00065 NODELET_INFO("shutting down driver thread"); 00066 running_ = false; 00067 deviceThread_->join(); 00068 NODELET_INFO("driver thread stopped"); 00069 } 00070 dvr_->shutdown(); 00071 } 00072 00073 private: 00074 virtual void onInit(); 00075 virtual void devicePoll(); 00076 00077 volatile bool running_; 00078 boost::shared_ptr<camera1394_driver::Camera1394Driver> dvr_; 00079 boost::shared_ptr<boost::thread> deviceThread_; 00080 }; 00081 00086 void Camera1394Nodelet::onInit() 00087 { 00088 ros::NodeHandle priv_nh(getPrivateNodeHandle()); 00089 ros::NodeHandle node(getNodeHandle()); 00090 ros::NodeHandle camera_nh(node, "camera"); 00091 dvr_.reset(new camera1394_driver::Camera1394Driver(priv_nh, camera_nh)); 00092 dvr_->setup(); 00093 00094 // spawn device thread 00095 running_ = true; 00096 deviceThread_ = boost::shared_ptr< boost::thread > 00097 (new boost::thread(boost::bind(&Camera1394Nodelet::devicePoll, this))); 00098 } 00099 00101 void Camera1394Nodelet::devicePoll() 00102 { 00103 while (running_) 00104 { 00105 dvr_->poll(); 00106 } 00107 } 00108 00109 // Register this plugin with pluginlib. Names must match nodelet_velodyne.xml. 00110 // 00111 // parameters are: package, class name, class type, base class type 00112 PLUGINLIB_DECLARE_CLASS(camera1394, driver, 00113 Camera1394Nodelet, nodelet::Nodelet);