Fawkes API Fawkes Development Version
image_thread.h
1
2/***************************************************************************
3 * image_thread.cpp - Thread to exchange point clouds
4 *
5 * Created: Tue Apr 10 22:12:27 2012
6 * Copyright 2011-2012 Tim Niemueller [www.niemueller.de]
7 ****************************************************************************/
8
9/* This program is free software; you can redistribute it and/or modify
10 * it under the terms of the GNU General Public License as published by
11 * the Free Software Foundation; either version 2 of the License, or
12 * (at your option) any later version.
13 *
14 * This program is distributed in the hope that it will be useful,
15 * but WITHOUT ANY WARRANTY; without even the implied warranty of
16 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
17 * GNU Library General Public License for more details.
18 *
19 * Read the full text in the LICENSE.GPL file in the doc directory.
20 */
21
22#ifndef _PLUGINS_ROS_IMAGE_THREAD_H_
23#define _PLUGINS_ROS_IMAGE_THREAD_H_
24
25#include <aspect/blocked_timing.h>
26#include <aspect/clock.h>
27#include <aspect/configurable.h>
28#include <aspect/logging.h>
29#include <core/threading/mutex.h>
30#include <core/threading/thread.h>
31#include <image_transport/image_transport.h>
32#include <plugins/ros/aspect/ros.h>
33#include <ros/node_handle.h>
34#include <sensor_msgs/Image.h>
35
36#include <list>
37#include <queue>
38
39namespace firevision {
40class SharedMemoryImageBuffer;
41}
42
49{
50public:
52 virtual ~RosImagesThread();
53
54 virtual void init();
55 virtual void loop();
56 virtual void finalize();
57
58 /** Stub to see name in backtrace for easier debugging. @see Thread::run() */
59protected:
60 virtual void
62 {
63 Thread::run();
64 }
65
66private:
67 void update_images();
68 void get_sets(std::set<std::string> &missing_images, std::set<std::string> &unbacked_images);
69
70private:
71 /// @cond INTERNALS
72 typedef struct
73 {
74 image_transport::Publisher pub;
75 sensor_msgs::Image msg;
76 fawkes::Time last_sent;
78 } PublisherInfo;
79 /// @endcond
80 std::map<std::string, PublisherInfo> pubs_;
81
82 image_transport::ImageTransport *it_;
83 fawkes::Time * last_update_;
84 fawkes::Time * now_;
85};
86
87#endif
Thread to export Fawkes images to ROS.
Definition: image_thread.h:49
virtual void init()
Initialize the thread.
virtual void loop()
Code to execute in the thread.
virtual void run()
Stub to see name in backtrace for easier debugging.
Definition: image_thread.h:61
virtual ~RosImagesThread()
Destructor.
RosImagesThread()
Constructor.
virtual void finalize()
Finalize the thread.
Thread aspect to use blocked timing.
Thread aspect that allows to obtain the current time from the clock.
Definition: clock.h:34
Thread aspect to access configuration data.
Definition: configurable.h:33
Thread aspect to log output.
Definition: logging.h:33
Thread aspect to get access to a ROS node handle.
Definition: ros.h:39
Thread class encapsulation of pthreads.
Definition: thread.h:46
A class for handling time.
Definition: time.h:93
Shared memory image buffer.
Definition: shm_image.h:184