Class StCameraInterface

Inheritance Relationships

Derived Type

Class Documentation

class StCameraInterface

Base class to control a connected camera.

This is a base class to control a connected camera, including callback for services.

Subclassed by stcamera::StCameraInterfaceImpl

Public Functions

StCameraInterface(rclcpp::Node *nh_parent, const std::string &camera_namespace, StParameter *param, rclcpp::Clock &clock)

Constructor.

Parameters:

  • dev – [in] Pointer to the IStDeviceReleasable of the device.

  • nh_parent – [in] The main ROS node handle.

  • camera_namespace – [in] The namespace for the device.

  • param – [in] Pointer to the StParameter class instance.

  • queue_size – [in] Used for initializing publisher (Maximum number of outgoing messages to be queued for delivery to subscribers). Default is set to STCAMERA_QUEUE_SIZE

virtual ~StCameraInterface()

Destructor.

All event node callbacks are deregistered and the callbacks are released here.

virtual bool deviceIsLost() = 0

Check if the device is disconnected.

Returns:

True if device is already disconnected. False otherwise.

Protected Functions

inline const std::string &getTextForMsg() const
inline rclcpp::Logger get_logger() const

Protected Attributes

std::shared_ptr<rclcpp::Node> nh_
rclcpp::Node *parent_nh_

Node handle.

const std::string camera_namespace_

Namespace of the camera. The namespace is generated by using StParameter::getNamespace() function.

StParameter *param_

Pointer to the instance of StParameter.

rclcpp::Clock &clock_