FrameGrabber_nws_ros.h

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/*
 * SPDX-FileCopyrightText: 2006-2021 Istituto Italiano di Tecnologia (IIT)
 * SPDX-License-Identifier: BSD-3-Clause
 */
 
#ifndef YARP_FRAMEGRABBER_NWS_ROS_H
#define YARP_FRAMEGRABBER_NWS_ROS_H
 
#include <yarp/os/Node.h>
#include <yarp/os/Publisher.h>
#include <yarp/os/PeriodicThread.h>
#include <yarp/os/RpcServer.h>
#include <yarp/os/Stamp.h>
 
#include <yarp/dev/DeviceDriver.h>
#include <yarp/dev/IFrameGrabberControls.h>
#include <yarp/dev/IFrameGrabberControlsDC1394.h>
#include <yarp/dev/IFrameGrabberImage.h>
#include <yarp/dev/IPreciselyTimed.h>
#include <yarp/dev/IRgbVisualParams.h>
#include <yarp/dev/WrapperSingle.h>
 
#include <yarp/rosmsg/sensor_msgs/CameraInfo.h>
#include <yarp/rosmsg/sensor_msgs/Image.h>
 
class FrameGrabber_nws_ros :
        public yarp::dev::DeviceDriver,
        public yarp::dev::WrapperSingle,
        public yarp::os::PeriodicThread
{
private:
    // Publishers
    typedef yarp::os::Publisher<yarp::rosmsg::sensor_msgs::Image> ImageTopicType;
    typedef yarp::os::Publisher<yarp::rosmsg::sensor_msgs::CameraInfo> CameraInfoTopicType;
 
    yarp::os::Node* node {nullptr};
    ImageTopicType publisherPort_image;
    CameraInfoTopicType publisherPort_cameraInfo;
 
    // Subdevice
    yarp::dev::PolyDriver* subdevice {nullptr};
    bool isSubdeviceOwned {false};
 
    // Interfaces handled
    yarp::dev::IRgbVisualParams* iRgbVisualParams {nullptr};
    yarp::dev::IFrameGrabberImage* iFrameGrabberImage {nullptr};
    yarp::dev::IPreciselyTimed* iPreciselyTimed {nullptr};
 
    // Images
    yarp::sig::ImageOf<yarp::sig::PixelRgb>* img {nullptr};
 
    // Internal state
    bool m_active {false};
    yarp::os::Stamp m_stamp;
    std::string m_frameId;
 
    // Options
    static constexpr double s_default_period = 0.03; // seconds
    double m_period {s_default_period};
 
    bool setCamInfo(yarp::rosmsg::sensor_msgs::CameraInfo& cameraInfo);
 
public:
    FrameGrabber_nws_ros();
    FrameGrabber_nws_ros(const FrameGrabber_nws_ros&) = delete;
    FrameGrabber_nws_ros(FrameGrabber_nws_ros&&) = delete;
    FrameGrabber_nws_ros& operator=(const FrameGrabber_nws_ros&) = delete;
    FrameGrabber_nws_ros& operator=(FrameGrabber_nws_ros&&) = delete;
    ~FrameGrabber_nws_ros() override;
 
    // DeviceDriver
    bool close() override;
    bool open(yarp::os::Searchable& config) override;
 
    // IWrapper interface
    bool attach(yarp::dev::PolyDriver* poly) override;
    bool detach() override;
 
    //RateThread
    bool threadInit() override;
    void threadRelease() override;
    void run() override;
};
 
#endif // YARP_FRAMEGRABBER_NWS_ROS_H