RgbdSensor_nws_ros.h

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/*
 * SPDX-FileCopyrightText: 2006-2021 Istituto Italiano di Tecnologia (IIT)
 * SPDX-License-Identifier: BSD-3-Clause
 */
 
#ifndef YARP_DEV_RGBDSENSOR_NWS_ROS_H
#define YARP_DEV_RGBDSENSOR_NWS_ROS_H
 
#include <vector>
#include <iostream>
#include <string>
#include <sstream>
 
#include <yarp/os/Port.h>
#include <yarp/os/Time.h>
#include <yarp/os/Stamp.h>
#include <yarp/os/Network.h>
#include <yarp/os/Property.h>
#include <yarp/os/PeriodicThread.h>
 
#include <yarp/sig/Vector.h>
 
#include <yarp/dev/WrapperSingle.h>
#include <yarp/dev/PolyDriver.h>
#include <yarp/dev/IRGBDSensor.h>
#include <yarp/dev/IFrameGrabberControls.h>
 
// ROS stuff
#include <yarp/os/Node.h>
#include <yarp/os/Publisher.h>
#include <yarp/os/Subscriber.h>
#include <yarp/rosmsg/TickTime.h>
#include <yarp/rosmsg/sensor_msgs/CameraInfo.h>
#include <yarp/rosmsg/sensor_msgs/Image.h>
 
#define DEFAULT_THREAD_PERIOD   0.03 // s
 
namespace RGBDImpl
{
    const std::string frameId_param            = "frame_Id";
    const std::string nodeName_param           = "nodeName";
    const std::string colorTopicName_param     = "colorTopicName";
    const std::string depthTopicName_param     = "depthTopicName";
    const std::string depthInfoTopicName_param = "depthInfoTopicName";
    const std::string colorInfoTopicName_param = "colorInfoTopicName";
}
 
class RgbdSensor_nws_ros :
        public yarp::dev::DeviceDriver,
        public yarp::dev::WrapperSingle,
        public yarp::os::PeriodicThread
{
private:
    typedef yarp::sig::ImageOf<yarp::sig::PixelFloat>    DepthImage;
    typedef yarp::os::Publisher<yarp::rosmsg::sensor_msgs::Image>       ImageTopicType;
    typedef yarp::os::Publisher<yarp::rosmsg::sensor_msgs::CameraInfo>  DepthTopicType;
    typedef unsigned int                                 UInt;
 
    enum SensorType{COLOR_SENSOR, DEPTH_SENSOR};
 
    template <class T>
    struct param
    {
        param(T& inVar, std::string inName)
        {
            var          = &inVar;
            parname      = inName;
        }
        T*              var;
        std::string     parname;
    };
 
    ImageTopicType        publisherPort_color;
    ImageTopicType        publisherPort_depth;
    DepthTopicType        publisherPort_colorCaminfo;
    DepthTopicType        publisherPort_depthCaminfo;
    yarp::os::Node*       m_node;
    std::string           nodeName;
    std::string           m_color_frame_id;
    std::string           m_depth_frame_id;
    yarp::sig::FlexImage  colorImage;
    DepthImage            depthImage;
    UInt                  nodeSeq;
 
    // Image data specs
    // int hDim, vDim;
    double                         period;
    std::string                    sensorId;
    yarp::dev::IRGBDSensor*        sensor_p;
    yarp::dev::IFrameGrabberControls* fgCtrl;
    yarp::dev::IRGBDSensor::RGBDSensor_status sensorStatus;
    int                            verbose;
    bool                           forceInfoSync;
    bool                           initialize_ROS(yarp::os::Searchable& config);
 
    // Open the wrapper only, the attach method needs to be called before using it
    // Typical usage: yarprobotinterface
    bool                           openDeferredAttach(yarp::os::Searchable& prop);
 
    // If a subdevice parameter is given, the wrapper will open it and attach to immediately.
    // Typical usage: simulator or command line
    bool                           isSubdeviceOwned;
    yarp::dev::PolyDriver*         subDeviceOwned;
    bool                           openAndAttachSubDevice(yarp::os::Searchable& prop);
 
    // Synch
    yarp::os::Stamp                colorStamp;
    yarp::os::Stamp                depthStamp;
 
    bool writeData();
    bool setCamInfo(yarp::rosmsg::sensor_msgs::CameraInfo& cameraInfo,
                    const std::string&                     frame_id,
                    const UInt&                            seq,
                    const SensorType&                      sensorType);
 
public:
    RgbdSensor_nws_ros();
    RgbdSensor_nws_ros(const RgbdSensor_nws_ros&) = delete;
    RgbdSensor_nws_ros(RgbdSensor_nws_ros&&) = delete;
    RgbdSensor_nws_ros& operator=(const RgbdSensor_nws_ros&) = delete;
    RgbdSensor_nws_ros& operator=(RgbdSensor_nws_ros&&) = delete;
    ~RgbdSensor_nws_ros() override;
 
    bool        open(yarp::os::Searchable &params) override;
    bool        close() override;
 
    bool        attach(yarp::dev::PolyDriver *poly) override;
    bool        detach() override;
 
    bool        threadInit() override;
    void        threadRelease() override;
    void        run() override;
};
 
#endif   // YARP_DEV_RGBDSENSOR_NWS_ROS_H