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rename camer_node_factory to camera_node_driver

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This commit is contained in:
Joe Dong
2023-02-20 09:39:44 +08:00
parent c4f143cc82
commit c8b25f29d7
5 changed files with 43 additions and 42 deletions
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orbbec_camera/include/orbbec_camera/ob_camera_node_factory.h → orbbec_camera/include/orbbec_camera/ob_camera_node_driver.h
+8 -9
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@@ -28,15 +28,15 @@ enum DeviceConnectionEvent {
kDeviceDisconnected,
kOtherDeviceConnected,
kOtherDeviceDisconnected,
kOtherDeviceCountUpdate,
kDeviceCountUpdate,
};
class OBCameraNodeFactory : public rclcpp::Node {
class OBCameraNodeDriver : public rclcpp::Node {
public:
explicit OBCameraNodeFactory(const rclcpp::NodeOptions& node_options = rclcpp::NodeOptions());
OBCameraNodeFactory(const std::string& node_name, const std::string& ns,
const rclcpp::NodeOptions& node_options = rclcpp::NodeOptions());
~OBCameraNodeFactory() override;
explicit OBCameraNodeDriver(const rclcpp::NodeOptions& node_options = rclcpp::NodeOptions());
OBCameraNodeDriver(const std::string& node_name, const std::string& ns,
const rclcpp::NodeOptions& node_options = rclcpp::NodeOptions());
~OBCameraNodeDriver() override;
private:
void init();
@@ -65,8 +65,7 @@ class OBCameraNodeFactory : public rclcpp::Node {
void queryDevice();
void getConnectedDeviceCountCallback(const std::shared_ptr<GetInt32::Request> request,
std::shared_ptr<GetInt32::Response> response);
void deviceCountUpdate();
private:
std::unique_ptr<ob::Context> ctx_ = nullptr;
@@ -80,10 +79,10 @@ class OBCameraNodeFactory : public rclcpp::Node {
std::string device_unique_id_;
std::shared_ptr<Parameters> parameters_ = nullptr;
std::shared_ptr<std::thread> query_thread_ = nullptr;
std::shared_ptr<std::thread> device_count_update_thread_ = nullptr;
std::recursive_mutex device_lock_;
int device_num_ = 1;
int num_devices_connected_ = 0;
rclcpp::TimerBase::SharedPtr check_connect_timer_ = nullptr;
rclcpp::Service<GetInt32>::SharedPtr get_connected_device_count_srv_ = nullptr;
};
} // namespace orbbec_camera