naoqi_camera.h

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/* -*- mode: C++ -*- */
/* $Id$ */

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#include <boost/thread/mutex.hpp>

#include <ros/ros.h>
#include <camera_info_manager/camera_info_manager.h>
#include <diagnostic_updater/diagnostic_updater.h>
#include <diagnostic_updater/publisher.h>
#include <driver_base/driver.h>
#include <dynamic_reconfigure/server.h>
#include <image_transport/image_transport.h>
#include <sensor_msgs/CameraInfo.h>

// Aldebaran includes
#include <alproxies/alvideodeviceproxy.h>

#include <naoqi_driver/naoqi_node.h>

#include "naoqi_sensors/NaoqiCameraConfig.h"
typedef naoqicamera::NaoqiCameraConfig Config;

namespace naoqicamera_driver
{

  //  (std::runtime_error should be top parent)
  // code borrowed from drivers/laser/hokuyo_driver/hokuyo.h
#define DEF_EXCEPTION(name, parent)             \
  class name  : public parent {                 \
  public:                                       \
    name (const char* msg) : parent (msg) {}    \
  }

  DEF_EXCEPTION(Exception, std::runtime_error);


class NaoqiCameraDriver : public NaoqiNode
{
public:

  // public methods
  NaoqiCameraDriver(int argc, char ** argv,
                  ros::NodeHandle priv_nh,
                  ros::NodeHandle camera_nh);
  ~NaoqiCameraDriver();
  void poll(void);
  void setup(void);
  void shutdown(void);

private:

  // private methods
  void getNaoqiParams(ros::NodeHandle priv_nh);
  void closeCamera();
  bool openCamera(Config &newconfig);
  void publish(const sensor_msgs::ImagePtr &image);
  bool read(sensor_msgs::ImagePtr &image);
  void reconfig(naoqicamera::NaoqiCameraConfig &newconfig, uint32_t level);

  volatile driver_base::Driver::state_t state_; // current driver state
  boost::mutex reconfiguration_mutex_;  // critical section of poll() and reconfigure()

  ros::NodeHandle priv_nh_;             // private node handle
  ros::NodeHandle camera_nh_;           // camera name space handle
  std::string camera_name_;             // camera name
  std::string frame_id_;                // TF frame_id, either CameraTop_frame or CameraBottom_frame
  ros::Rate cycle_;                     // polling rate when closed
  ros::Rate real_frame_rate_;           // requested fps, to cap publishing rate
  uint32_t retries_;                    // count of openCamera() retries


  boost::shared_ptr<AL::ALVideoDeviceProxy> camera_proxy_;

  naoqicamera::NaoqiCameraConfig config_;
  dynamic_reconfigure::Server<naoqicamera::NaoqiCameraConfig> srv_;

  boost::shared_ptr<camera_info_manager::CameraInfoManager> cinfo_;
  bool calibration_matches_;            // CameraInfo matches video mode

  boost::shared_ptr<image_transport::ImageTransport> it_;
  image_transport::CameraPublisher image_pub_;

  diagnostic_updater::Updater diagnostics_;
  double topic_diagnostics_min_freq_;
  double topic_diagnostics_max_freq_;
  diagnostic_updater::TopicDiagnostic topic_diagnostics_;

}; // end class NaoqiCameraDriver

}; // end namespace naoqicamera_driver