cv_camera_nodelet.cpp

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// Copyright [2015] Takashi Ogura<t.ogura@gmail.com>

#include "cv_camera/driver.h"

#include <nodelet/nodelet.h>
#include <boost/thread.hpp>

namespace cv_camera
{

class CvCameraNodelet : public nodelet::Nodelet
{
 public:
  CvCameraNodelet() :
      is_running_(false)
  {}
  ~CvCameraNodelet()
  {
    if (is_running_)
    {
      is_running_ = false;
      thread_->join();
    }
  }

 private:
  virtual void onInit()
  {
    driver_.reset(new Driver(getPrivateNodeHandle(),
                             getPrivateNodeHandle()));
    try
    {
      driver_->setup();
      is_running_ = true;
      thread_ = boost::shared_ptr<boost::thread>
          (new boost::thread(boost::bind(&CvCameraNodelet::main, this)));
    }
    catch(cv_camera::DeviceError& e)
    {
      NODELET_ERROR_STREAM("failed to open device... do nothing: " << e.what());
    }
  }

  void main()
  {
    while (is_running_)
    {
      driver_->proceed();
    }
  }

  bool is_running_;

  boost::shared_ptr<Driver> driver_;

  boost::shared_ptr<boost::thread> thread_;
};

}  // end namespace cv_camera

#include <pluginlib/class_list_macros.h>
PLUGINLIB_DECLARE_CLASS(cv_camera, CvCameraNodelet, cv_camera::CvCameraNodelet, nodelet::Nodelet);