sensor_stream.hpp

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/*  Copyright (c) 2023, Beamagine
 
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          used to endorse or promote products derived from this software without specific
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    EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
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#include <ros/ros.h>
#include <iostream>
 
#include "l3cam_ros/GetSensorsAvailable.h"
#include "l3cam_ros/SensorDisconnected.h"
 
#include "l3cam_ros_utils.hpp"
 
namespace l3cam_ros
{
    class SensorStream : public ros::NodeHandle
    {
    protected:
        explicit SensorStream();
 
        virtual void stopListening() = 0;
 
    public:
        void spin();
 
        void declareServiceServers(const std::string &sensor);
 
        ros::ServiceClient client_get_sensors_;
        l3cam_ros::GetSensorsAvailable srv_get_sensors_;
 
        int timeout_secs_;
 
    private:
        template <typename T>
        void loadParam(const std::string &param_name, T &param_var, const T &default_val);
 
        bool sensorDisconnectedCallback(l3cam_ros::SensorDisconnected::Request &req, l3cam_ros::SensorDisconnected::Response &res);
 
        ros::ServiceServer srv_sensor_disconnected_;
 
        bool m_shutdown_requested;
 
    }; // class SensorStream
 
} // namespace l3cam_ros