fp_perception::DefaultDriver Class Reference

#include <default_vision_driver.hpp>

Inheritance diagram for fp_perception::DefaultDriver:

Collaboration diagram for fp_perception::DefaultDriver:

Public Member Functions
	DefaultDriver ()=default
	~DefaultDriver ()
void	initialize (const rclcpp::Node::SharedPtr &node) override
	Initialize the driver.
void	deinitialize () override
	Stop driver streaming.
vision_frame	captureFrame () override
	Get the latest image data from the driver.
void	test () override
	Test function to check the driver functionality by writing the image to a file.
Public Member Functions inherited from fp_perception::DriverBase
virtual	~DriverBase ()=default
virtual std::string	getName () const
	Get the name of the driver.
void	check_directory (std::string folder_name)
	Check if the test directory exists, create it if not.
const std::filesystem::path	check_file (const std::string &file_name)

Protected Member Functions
void	imageCallback (const sensor_msgs::msg::Image::ConstSharedPtr &msg)
void	produce_diagnostics (diagnostic_updater::DiagnosticStatusWrapper &status)
Protected Member Functions inherited from fp_perception::DriverBase
void	initialize_base (const rclcpp::Node::SharedPtr &node)
	Initializer base driver in place of constructor due to plugin semantics.
bool	diagnostics_enabled () const
void	enable_diagnostics (const std::string &hardware_id, const std::string &task_name, std::function< void(diagnostic_updater::DiagnosticStatusWrapper &)> task, std::chrono::milliseconds period=std::chrono::seconds(1))
void	disable_diagnostics ()

Protected Attributes
std::string	interface_name_
image_transport::Subscriber	image_sub_
sensor_msgs::msg::Image::ConstSharedPtr	latest_image_
std::atomic< uint64_t >	received_image_count_ { 0 }
Protected Attributes inherited from fp_perception::DriverBase
rclcpp::Node::SharedPtr	node_
	ROS node for the driver.
std::string	name_
	Name of the driver.
std::mutex	buffer_mutex_
	Mutex to protect access to the driver data.
std::condition_variable	buffer_cv_
	Condition variable to notify when new data is available.
std::atomic< bool >	is_running_ { false }
	Flag to indicate if the driver thread is running.
bool	diagnostics_enabled_ { false }
	Flag to enable standard ROS diagnostics publishing.
std::unique_ptr< diagnostic_updater::Updater >	diagnostics_updater_
rclcpp::TimerBase::SharedPtr	diagnostics_timer_

Constructor & Destructor Documentation

DefaultDriver()

fp_perception::DefaultDriver::DefaultDriver ( )

default

~DefaultDriver()

fp_perception::DefaultDriver::~DefaultDriver ( )

inline

Member Function Documentation

captureFrame()

vision_frame fp_perception::DefaultDriver::captureFrame ( )

inlineoverridevirtual

Get the latest image data from the driver.

Returns

vision_frame The latest frame received from the subscribed ROS topic.

Exceptions

fp_perception_exception

if not implemented in derived classes

Implements fp_perception::VisionSourceDriver.

deinitialize()

void fp_perception::DefaultDriver::deinitialize ( )

inlineoverridevirtual

Stop driver streaming.

Implements fp_perception::DriverBase.

imageCallback()

void fp_perception::DefaultDriver::imageCallback ( const sensor_msgs::msg::Image::ConstSharedPtr &  msg )

inlineprotected

initialize()

void fp_perception::DefaultDriver::initialize ( const rclcpp::Node::SharedPtr &  node )

inlineoverridevirtual

Initialize the driver.

This function should be overridden in derived classes to provide specific initialization.

Parameters

node	Shared pointer to the ROS node

Reimplemented from fp_perception::DriverBase.

produce_diagnostics()

void fp_perception::DefaultDriver::produce_diagnostics ( diagnostic_updater::DiagnosticStatusWrapper &  status )

inlineprotected

test()

void fp_perception::DefaultDriver::test ( )

inlineoverridevirtual

Test function to check the driver functionality by writing the image to a file.

Reimplemented from fp_perception::DriverBase.

Member Data Documentation

image_sub_

image_transport::Subscriber fp_perception::DefaultDriver::image_sub_

protected

interface_name_

std::string fp_perception::DefaultDriver::interface_name_

protected

latest_image_

sensor_msgs::msg::Image::ConstSharedPtr fp_perception::DefaultDriver::latest_image_

protected

received_image_count_

std::atomic<uint64_t> fp_perception::DefaultDriver::received_image_count_ { 0 }

protected

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

• fp_perception_driver_vision/include/fp_perception_driver_vision/default_vision_driver.hpp