Program Listing for File stcamera_node.hpp
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#ifndef STCAMERA_STCAMERA_NODE_H
#define STCAMERA_STCAMERA_NODE_H
#include <rclcpp/rclcpp.hpp>
#include "visibility_control.h"
#include "stparameter.hpp"
#include "stcamera_interface.hpp"
#include "stcamera_msgs/msg/gen_tl_info.hpp"
#include "stcamera_msgs/msg/device_connection.hpp"
#include "stcamera_msgs/srv/get_device_list.hpp"
#include "stcamera_msgs/srv/get_module_list.hpp"
#include "stcamera_msgs/srv/get_sdk_info.hpp"
namespace stcamera
{
class StCameraNodeImpl;
typedef std::map<std::string, stcamera_msgs::msg::DeviceConnection>
MapDeviceConnection;
class StCameraNode: public rclcpp::Node
{
public:
COMPOSITION_PUBLIC
explicit StCameraNode(const rclcpp::NodeOptions& options);
virtual ~StCameraNode();
protected:
StParameter param_;
rclcpp::Publisher<stcamera_msgs::msg::DeviceConnection>::SharedPtr msg_device_connection_;
rclcpp::Service<stcamera_msgs::srv::GetDeviceList>::SharedPtr srv_get_device_list_;
rclcpp::Service<stcamera_msgs::srv::GetModuleList>::SharedPtr srv_get_module_list_;
rclcpp::Service<stcamera_msgs::srv::GetSDKInfo>::SharedPtr srv_get_sdk_info_;
private:
rclcpp::TimerBase::SharedPtr timer_;
StCameraNodeImpl* st_camera_node_impl_;
friend StCameraNodeImpl;
protected:
virtual void init();
void initServices();
void initPublishers();
};
}
#endif