.. _program_listing_file__tmp_ws_src_gscam_include_gscam_gscam.hpp:

Program Listing for File gscam.hpp
==================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_gscam_include_gscam_gscam.hpp>` (``/tmp/ws/src/gscam/include/gscam/gscam.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // Copyright 2022 Jonathan Bohren, Clyde McQueen
   //
   // Licensed under the Apache License, Version 2.0 (the "License");
   // you may not use this file except in compliance with the License.
   // You may obtain a copy of the License at
   //
   //     http://www.apache.org/licenses/LICENSE-2.0
   //
   // Unless required by applicable law or agreed to in writing, software
   // distributed under the License is distributed on an "AS IS" BASIS,
   // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   // See the License for the specific language governing permissions and
   // limitations under the License.
   
   #ifndef GSCAM__GSCAM_HPP_
   #define GSCAM__GSCAM_HPP_
   
   #include <stdexcept>
   #include <string>
   
   extern "C" {
   #include "gst/gst.h"
   #include "gst/app/gstappsink.h"
   }
   
   #include "rclcpp/rclcpp.hpp"
   
   #include "image_transport/image_transport.hpp"
   #include "camera_info_manager/camera_info_manager.hpp"
   
   #include "sensor_msgs/msg/image.hpp"
   #include "sensor_msgs/msg/compressed_image.hpp"
   #include "sensor_msgs/msg/camera_info.hpp"
   #include "sensor_msgs/srv/set_camera_info.hpp"
   
   namespace gscam
   {
   
   class GSCam : public rclcpp::Node
   {
   public:
     explicit GSCam(const rclcpp::NodeOptions & options);
     ~GSCam();
   
   private:
     bool configure();
     bool init_stream();
     void publish_stream();
     void cleanup_stream();
   
     void run();
   
     // General gstreamer configuration
     std::string gsconfig_;
   
     // Gstreamer structures
     GstElement * pipeline_;
     GstElement * sink_;
   
     // Appsink configuration
     bool sync_sink_;
     bool preroll_;
     bool reopen_on_eof_;
     bool use_gst_timestamps_;
   
     // Camera publisher configuration
     std::string frame_id_;
     int width_, height_;
     std::string image_encoding_;
     std::string camera_name_;
     std::string camera_info_url_;
     bool use_sensor_data_qos_;
   
     // ROS Inteface
     // Calibration between ros::Time and gst timestamps
     uint64_t time_offset_;
     camera_info_manager::CameraInfoManager camera_info_manager_;
     image_transport::CameraPublisher camera_pub_;
     // Case of a jpeg only publisher
     rclcpp::Publisher<sensor_msgs::msg::CompressedImage>::SharedPtr jpeg_pub_;
     rclcpp::Publisher<sensor_msgs::msg::CameraInfo>::SharedPtr cinfo_pub_;
   
     // Poll gstreamer on a separate thread
     std::thread pipeline_thread_;
     std::atomic<bool> stop_signal_;
   };
   
   }  // namespace gscam
   
   #endif  // GSCAM__GSCAM_HPP_