Program Listing for File stcamera_interface.hpp
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#ifndef STCAMERA_STCAMERA_INTERFACE_H
#define STCAMERA_STCAMERA_INTERFACE_H
#include <mutex>
#include <rclcpp/rclcpp.hpp>
#include <image_transport/image_transport.hpp>
#include <camera_info_manager/camera_info_manager.hpp>
#include <sensor_msgs/image_encodings.hpp>
#include "stparameter.hpp"
#include "stheader.hpp"
#include "stcamera_msgs.hpp"
namespace stcamera
{
#define RETURN_ERR_RES(X, MSG, RES) \
{ std::stringstream ss_error; ss_error << __FILE__ << " " << __func__ << " " << __LINE__ << ":" << getTextForMsg().c_str() << " error: " << MSG; \
RCLCPP_ERROR(get_logger(), ss_error.str().c_str()); \
RES->error_info.error_code = X; RES->error_info.description = ss_error.str(); return(false);}
#define RETURN_SUCCESS(RES) \
RES->error_info.error_code = OSError_Success; \
return(true);
//RES->error_info.description = "";
#define CHECK_NULLPTR_RES(P, X, MSG, RES) if (nullptr == P) \
{ RETURN_ERR_RES(X, MSG, RES); }
class StCameraInterface;
typedef std::map<std::string, StCameraInterface*> MapCameraInterface;
typedef std::map<std::string, rclcpp::Publisher<stcamera_msgs::msg::Event>::SharedPtr> MapPublisher;
class StCameraInterface
{
public:
StCameraInterface(rclcpp::Node *nh_parent,
const std::string &camera_namespace,
StParameter *param,
rclcpp::Clock &clock);
virtual ~StCameraInterface();
virtual bool deviceIsLost() = 0;
protected:
const std::string &getTextForMsg() const {return(camera_namespace_);}
std::shared_ptr<rclcpp::Node> nh_;
rclcpp::Node *parent_nh_;
const std::string camera_namespace_;
StParameter *param_;
rclcpp::Clock &clock_;
rclcpp::Logger get_logger() const{return(parent_nh_->get_logger());}
};
}
#endif