VCINodeAsync Class Reference

#include <VCINode.hpp>

Inheritance diagram for VCINodeAsync:

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Public Member Functions
	VCINodeAsync ()

Private Member Functions
void	camera_publish_loop ()

Private Attributes
AlviumAsyncCamera	m_camera
image_transport::Publisher	m_laneImagePublisher
rclcpp::Publisher< sensor_msgs::msg::Image >::SharedPtr	m_imagePublisherNew
cv_bridge::CvImage	m_imgBridge
com::SharedMemory	m_sharedMemory
size_t	m_imageSizeBytes = 512*256*3

Additional Inherited Members
Protected Member Functions inherited from GalaxisNode
	GalaxisNode ()=delete
	GalaxisNode (std::string p_name, unsigned int p_heartbeatTimePeriod)
	GalaxisNode (std::string p_name)
template<typename MsgSPtr >
void	tickSub (std::map< galaxis::serviceStates::State, std::function< void(const MsgSPtr)>> const *p_functionMapPtr, MsgSPtr const p_message)
template<typename... Args>
void	tickPub (std::map< galaxis::serviceStates::State, std::function< void(Args...)>> const *p_functionMapPtr, Args... p_args)
void	register_callback (std::function< void(galaxis::serviceStates::State)> p_function)
void	service_state_callback (ServiceStateType::SharedPtr const p_msgSPtr)
galaxis::serviceStates::State	get_current_service_state () const
void	enable_parameters (std::function< rcl_interfaces::msg::SetParametersResult(const std::vector< rclcpp::Parameter > &)> callbackFunc)
void	create_parameters (std::shared_ptr< json > configJsonSPtr)
json const &	get_global_settings ()

Detailed Description

Definition at line 24 of file VCINode.hpp.

Constructor & Destructor Documentation

VCINodeAsync()

VCINodeAsync::VCINodeAsync

(

)

Definition at line 21 of file VCINode.cpp.

                           :
    GalaxisNode("VCINodeAsync"), m_sharedMemory("/galaxis__camera") {
  m_laneImagePublisher = image_transport::create_publisher(this, galaxis::ros::TOPIC_CAMERA_RAW);
 
  // rclcpp::QoS qos_params = get_qos_profile(QOS_BEST_EFFORT);
  // m_imagePublisherNew = this->create_publisher<sensor_msgs::msg::Image>(galaxis::ros::TOPIC_CAMERA_RAW_BE, qos_params);
 
  int maxTries = 3;
  while(m_sharedMemory.allocate(m_imageSizeBytes) == false && maxTries > 0) {
    log_warning("Failed to allocate shared memory. Trying again (",maxTries,")");
    std::this_thread::sleep_for(1000ms);
    if(maxTries == 1) {
      std::exit(-1);
    }
    maxTries--;
  }
 
  maxTries = 60;
  while(m_camera.start_grabbing_detached() == false) {
    log_warning("Failed to initialize camera. Trying again (",maxTries,")");
    std::this_thread::sleep_for(1000ms);
    if(maxTries == 1) {
      std::exit(-1);
    }
    maxTries--;
  }
 
  std::thread(&VCINodeAsync::camera_publish_loop, this).detach();
}

References com::SharedMemory::allocate(), camera_publish_loop(), galaxis::utils::log_warning(), m_camera, m_imageSizeBytes, m_laneImagePublisher, m_sharedMemory, and AlviumAsyncCamera::start_grabbing_detached().

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Member Function Documentation

camera_publish_loop()

void VCINodeAsync::camera_publish_loop ( )

private

Definition at line 51 of file VCINode.cpp.

                                       {
  com::SharedData data;
  
  while(1) {
    auto msg = m_camera.pop_image(true); // blocking
 
    if(msg == nullptr) {
      log_warning("[ASYNC-VCINODE] camera_publish_loop: Image is nullptr.");
      std::this_thread::sleep_for(1ms); // std::chrono_literals
      continue;
    }
 
    // write data via shared memory
    data.tv_sec   = msg->header.stamp.sec;
    data.tv_nsec  = msg->header.stamp.nanosec;
    data.data     = msg->data.data();
    data.dataSize = msg->data.size();
    m_sharedMemory.write_mutexed(data);
 
    // m_imagePublisherNew->publish(*msg);
    m_laneImagePublisher.publish(msg);
 
    log("[ASYNC-VCINODE] camera_publish_loop: Image published via Shared Memory and ROS2.");
    log_debug("[ASYNC-VCINODE] camera_publish_loop: Timestamp sec.nsec:", msg->header.stamp.sec, ".",msg->header.stamp.nanosec);
  }
}

References com::SharedData::data, com::SharedData::dataSize, galaxis::utils::log(), galaxis::utils::log_debug(), galaxis::utils::log_warning(), m_camera, m_laneImagePublisher, m_sharedMemory, AlviumAsyncCamera::pop_image(), com::SharedData::tv_nsec, com::SharedData::tv_sec, and com::SharedMemory::write_mutexed().

Referenced by VCINodeAsync().

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Member Data Documentation

m_camera

AlviumAsyncCamera VCINodeAsync::m_camera

private

Definition at line 26 of file VCINode.hpp.

Referenced by camera_publish_loop(), and VCINodeAsync().

m_imagePublisherNew

rclcpp::Publisher<sensor_msgs::msg::Image>::SharedPtr VCINodeAsync::m_imagePublisherNew

private

Definition at line 28 of file VCINode.hpp.

m_imageSizeBytes

size_t VCINodeAsync::m_imageSizeBytes = 512*256*3

private

Definition at line 33 of file VCINode.hpp.

Referenced by VCINodeAsync().

m_imgBridge

cv_bridge::CvImage VCINodeAsync::m_imgBridge

private

Definition at line 30 of file VCINode.hpp.

m_laneImagePublisher

image_transport::Publisher VCINodeAsync::m_laneImagePublisher

private

Definition at line 27 of file VCINode.hpp.

Referenced by camera_publish_loop(), and VCINodeAsync().

m_sharedMemory

com::SharedMemory VCINodeAsync::m_sharedMemory

private

Definition at line 32 of file VCINode.hpp.

Referenced by camera_publish_loop(), and VCINodeAsync().

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The documentation for this class was generated from the following files:

• nodes/VCINode/include/VCINode.hpp
• nodes/VCINode/src/VCINode.cpp