genicam2ros_publisher.h

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/*
 * Copyright (c) 2017 Roboception GmbH
 * All rights reserved
 *
 * Author: Heiko Hirschmueller
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 * 1. Redistributions of source code must retain the above copyright notice,
 * this list of conditions and the following disclaimer.
 *
 * 2. Redistributions in binary form must reproduce the above copyright notice,
 * this list of conditions and the following disclaimer in the documentation
 * and/or other materials provided with the distribution.
 *
 * 3. Neither the name of the copyright holder nor the names of its contributors
 * may be used to endorse or promote products derived from this software without
 * specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */

#ifndef RC_VISARD_ROS_GENICAM2ROS_PUBLISHER_H
#define RC_VISARD_ROS_GENICAM2ROS_PUBLISHER_H

#include <string>
#include <functional>

#include <GenApi/GenApi.h>
#include <rc_genicam_api/buffer.h>

#include <ros/ros.h>
#include <image_transport/image_transport.h>

namespace rc
{
class GenICam2RosPublisher
{
public:
  /*
    Flags for components to be enabled.
  */

  const static int ComponentIntensity = 1;
  const static int ComponentIntensityCombined = 2;
  const static int ComponentDisparity = 4;
  const static int ComponentConfidence = 8;
  const static int ComponentError = 16;

  GenICam2RosPublisher(const std::string& _frame_id) : frame_id(_frame_id)
  {
  }

  virtual ~GenICam2RosPublisher()
  {
  }

  void setNodemap(const std::shared_ptr<GenApi::CNodeMapRef>& _nodemap)
  {
    nodemap = _nodemap;
  }

  void clearNodemap()
  {
    nodemap.reset();
  }

  virtual void publish(const rcg::Buffer* buffer, uint32_t part, uint64_t pixelformat) = 0;

  virtual bool used() = 0;

  virtual void requiresComponents(int& components, bool& color) = 0;

  void subChanged(const ros::SingleSubscriberPublisher& pub)
  {
    if (sub_callback)
    {
      sub_callback();
    }
  }

  void subChangedIt(const image_transport::SingleSubscriberPublisher& pub)
  {
    if (sub_callback)
    {
      sub_callback();
    }
  }

protected:
  std::string frame_id;
  std::function<void()> sub_callback;
  std::shared_ptr<GenApi::CNodeMapRef> nodemap;

private:
  GenICam2RosPublisher& operator=(const GenICam2RosPublisher&);  // forbidden
};

}  // namespace rc

#endif