driver1394.h

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/* -*- mode: C++ -*- */
/* $Id: driver1394.h 38809 2012-02-07 19:28:15Z joq $ */

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#include <boost/thread/mutex.hpp>

#include <ros/ros.h>
#include <camera_info_manager/camera_info_manager.h>
#include <diagnostic_updater/diagnostic_updater.h>
#include <diagnostic_updater/publisher.h>
#include <driver_base/driver.h>
#include <dynamic_reconfigure/server.h>
#include <image_transport/image_transport.h>
#include <sensor_msgs/CameraInfo.h>
#include <sensor_msgs/CompressedImage.h>

#include "dev_camera1394.h"
#include "camera1394/Camera1394Config.h"
typedef camera1394::Camera1394Config Config;

namespace camera1394_driver
{

class Camera1394Driver
{
public:

  // public methods
  Camera1394Driver(ros::NodeHandle priv_nh,
                   ros::NodeHandle camera_nh);
  ~Camera1394Driver();
  void poll(void);
  void setup(void);
  void shutdown(void);

private:

  // private methods
  void closeCamera();
  bool openCamera(Config &newconfig);
  void publish(const sensor_msgs::ImagePtr &image);
  bool read(sensor_msgs::ImagePtr &image);
  void reconfig(camera1394::Camera1394Config &newconfig, uint32_t level);

  boost::mutex mutex_;

  volatile driver_base::Driver::state_t state_; // current driver state
  volatile bool reconfiguring_;         // true when reconfig() running
  ros::NodeHandle priv_nh_;             // private node handle
  ros::NodeHandle camera_nh_;           // camera name space handle
  std::string camera_name_;             // camera name
  ros::Rate cycle_;                     // polling rate when closed
  uint32_t retries_;                    // count of openCamera() retries

  boost::shared_ptr<camera1394::Camera1394> dev_;

  camera1394::Camera1394Config config_;
  dynamic_reconfigure::Server<camera1394::Camera1394Config> srv_;

  boost::shared_ptr<camera_info_manager::CameraInfoManager> cinfo_;
  bool calibration_matches_;            // CameraInfo matches video mode

  boost::shared_ptr<image_transport::ImageTransport> it_;
  image_transport::CameraPublisher image_pub_;

//  /** TP: compressed image interfaces */
//  ros::Publisher compressed_pub_;
//  ros::Publisher cinfo_pub_;

  diagnostic_updater::Updater diagnostics_;
  double topic_diagnostics_min_freq_;
  double topic_diagnostics_max_freq_;
  diagnostic_updater::TopicDiagnostic topic_diagnostics_;

}; // end class Camera1394Driver

}; // end namespace camera1394_driver