camera_component.h

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/******************************************************************************
 * Copyright 2017 The Apollo Authors. All Rights Reserved.
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 * http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *****************************************************************************/
 
#pragma once
 
#include <atomic>
#include <future>
#include <memory>
#include <vector>
 
#include "cyber/cyber.h"
#include "modules/drivers/camera/proto/config.pb.h"
#include "modules/common_msgs/sensor_msgs/sensor_image.pb.h"
 
#include "modules/drivers/camera/usb_cam.h"
 
namespace apollo {
namespace drivers {
namespace camera {
 
class CameraComponent : public apollo::cyber::Component<> {
public:
    bool Init() override;
    ~CameraComponent();
 
private:
    void run();
 
    std::shared_ptr<apollo::cyber::Writer<
        apollo::drivers::Image>> writer_ = nullptr;
    std::shared_ptr<apollo::cyber::Writer<
        apollo::drivers::Image>> raw_writer_ = nullptr;
    std::unique_ptr<UsbCam> camera_device_;
    std::shared_ptr<
        apollo::drivers::camera::config::Config> camera_config_;
    CameraImagePtr raw_image_ = nullptr;
    CameraImagePtr raw_image_for_compress_ = nullptr;
    uint32_t spin_rate_ = 200;
    uint32_t device_wait_ = 2000;
    int index_ = 0;
    int buffer_size_ = 16;
    const int32_t MAX_IMAGE_SIZE = 20 * 1024 * 1024;
    std::future<void> async_result_;
    std::atomic<bool> running_ = {false};
};
 
CYBER_REGISTER_COMPONENT(CameraComponent)
}  // namespace camera
}  // namespace drivers
}  // namespace apollo