Fawkes API
Fawkes Development Version
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00001 00002 /*************************************************************************** 00003 * image_thread.cpp - Thread to exchange point clouds 00004 * 00005 * Created: Tue Apr 10 22:12:27 2012 00006 * Copyright 2011-2012 Tim Niemueller [www.niemueller.de] 00007 ****************************************************************************/ 00008 00009 /* This program is free software; you can redistribute it and/or modify 00010 * it under the terms of the GNU General Public License as published by 00011 * the Free Software Foundation; either version 2 of the License, or 00012 * (at your option) any later version. 00013 * 00014 * This program is distributed in the hope that it will be useful, 00015 * but WITHOUT ANY WARRANTY; without even the implied warranty of 00016 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00017 * GNU Library General Public License for more details. 00018 * 00019 * Read the full text in the LICENSE.GPL file in the doc directory. 00020 */ 00021 00022 #ifndef __PLUGINS_ROS_IMAGE_THREAD_H_ 00023 #define __PLUGINS_ROS_IMAGE_THREAD_H_ 00024 00025 #include <core/threading/thread.h> 00026 #include <aspect/blocked_timing.h> 00027 #include <aspect/clock.h> 00028 #include <aspect/configurable.h> 00029 #include <aspect/logging.h> 00030 #include <aspect/pointcloud.h> 00031 #include <plugins/ros/aspect/ros.h> 00032 #include <core/threading/mutex.h> 00033 00034 #include <list> 00035 #include <queue> 00036 00037 #include <ros/node_handle.h> 00038 #include <image_transport/image_transport.h> 00039 #include <sensor_msgs/Image.h> 00040 00041 namespace firevision { 00042 class SharedMemoryImageBuffer; 00043 } 00044 00045 class RosImagesThread 00046 : public fawkes::Thread, 00047 public fawkes::ClockAspect, 00048 public fawkes::LoggingAspect, 00049 public fawkes::ConfigurableAspect, 00050 public fawkes::BlockedTimingAspect, 00051 public fawkes::ROSAspect 00052 { 00053 public: 00054 RosImagesThread(); 00055 virtual ~RosImagesThread(); 00056 00057 virtual void init(); 00058 virtual void loop(); 00059 virtual void finalize(); 00060 00061 /** Stub to see name in backtrace for easier debugging. @see Thread::run() */ 00062 protected: virtual void run() { Thread::run(); } 00063 00064 private: 00065 void update_images(); 00066 void get_sets(std::set<std::string> &missing_images, 00067 std::set<std::string> &unbacked_images); 00068 00069 private: 00070 /// @cond INTERNALS 00071 typedef struct { 00072 image_transport::Publisher pub; 00073 sensor_msgs::Image msg; 00074 fawkes::Time last_sent; 00075 firevision::SharedMemoryImageBuffer *img; 00076 } PublisherInfo; 00077 /// @endcond 00078 std::map<std::string, PublisherInfo> pubs_; 00079 00080 image_transport::ImageTransport *it_; 00081 fawkes::Time *last_update_; 00082 fawkes::Time *now_; 00083 00084 }; 00085 00086 #endif