83 lines
2.4 KiB
C++
83 lines
2.4 KiB
C++
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/*
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* Copyright (C) 2012 Open Source Robotics Foundation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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/* Desc: Camera Interface for Player
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* Author: Nate Koenig
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* Date: 2 March 2006
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*/
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#ifndef CAMERAINTERFACE_HH
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#define CAMERAINTERFACE_HH
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#include <string>
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#include "gazebo/util/system.hh"
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#include "GazeboInterface.hh"
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/// \addtogroup player_iface
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/// \{
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/// \defgroup camera_player Camera interface
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/// \brief Camera interface
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/// \{
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/// \brief Camera interface
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class GAZEBO_VISIBLE CameraInterface : public GazeboInterface
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{
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/// \brief Constructor
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public: CameraInterface(player_devaddr_t _addr, GazeboDriver *_driver,
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ConfigFile *_cf, int _section);
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/// \brief Destructor
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public: virtual ~CameraInterface();
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/// \brief Handle all messages. This is called from GazeboDriver
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public: virtual int ProcessMessage(QueuePointer &_respQueue,
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player_msghdr_t *_hdr, void *_data);
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/// \brief Update this interface, publish new info.
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public: virtual void Update();
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/// \brief Open a SHM interface when a subscription is received.
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/// This is called fromGazeboDriver::Subscribe
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public: virtual void Subscribe();
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/// \brief Close a SHM interface. This is called from
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/// GazeboDriver::Unsubscribe
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public: virtual void Unsubscribe();
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private: void OnImage(ConstImageStampedPtr &_msg);
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/// Save a camera frame
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/// This function is commented out because it's not used.
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/// private: void SaveFrame(const char *filename) const;
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/// \brief Gazebo id. This needs to match and ID in a Gazebo WorldFile
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private: std::string cameraName;
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/// \brief Timestamp on last data update
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private: double datatime;
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/// Most recent data
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private: player_camera_data_t data;
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private: gazebo::transport::SubscriberPtr cameraSub;
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// Save image frames?
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private: int save;
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private: int frameno;
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};
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/// \}
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/// \}
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#endif
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