rgbd::Client Class Reference

Client which uses the interfaces of ClientRGBD and ClientSHM. More...

#include <client.h>

Public Member Functions
	Client ()
	Constructor. More...
bool	deinitialize ()
	Calls deinitialize on implementation clients. Shutsdown both implementations and deletes nh_. initialized will now return false. More...
bool	initialize (const std::string &server_name, float timeout=5.0)
	Initialize the client. More...
bool	initialized ()
	Check if the client is initialized. Checks if nh_ is exists. nextImage will not return an image if client is not initialized. More...
ImagePtr	nextImage ()
	Get a new Image. If no new image has been received since the last call, The ImagePtr will be a nullptr. More...
bool	nextImage (Image &image)
	Get a new Image. If no new image has been received since the last call, no image will be written and false will be returned. More...
virtual	~Client ()
	Destructor. More...

Protected Types
enum	ClientImplMode { ClientImplMode::shm, ClientImplMode::rgbd }

Protected Member Functions
void	hostsCallback (const std_msgs::StringConstPtr &msg)
void	subHostsThreadFunc (const float frequency)

Protected Attributes
ros::CallbackQueue	cb_queue_
ClientImplMode	client_impl_mode_
ClientRGBD	client_rgbd_
ClientSHM	client_shm_
std::string	hostname_
ros::WallTime	last_time_shm_server_online_
std::unique_ptr< ros::NodeHandle >	nh_
std::string	server_name_
std::thread	sub_hosts_thread_
ros::Subscriber	sub_shm_hosts_
std::mutex	switch_impl_mutex_

Detailed Description

Client which uses the interfaces of ClientRGBD and ClientSHM.

Definition at line 29 of file client.h.

Member Enumeration Documentation

ClientImplMode

enum rgbd::Client::ClientImplMode

strongprotected

Enumerator
shm
rgbd

Definition at line 81 of file client.h.

Constructor & Destructor Documentation

Client()

rgbd::Client::Client

(

)

Constructor.

Definition at line 20 of file client.cpp.

~Client()

rgbd::Client::~Client ( )

virtual

Destructor.

Definition at line 27 of file client.cpp.

Member Function Documentation

deinitialize()

bool rgbd::Client::deinitialize

(

)

Calls deinitialize on implementation clients. Shutsdown both implementations and deletes nh_. initialized will now return false.

Returns

indicates success

Definition at line 54 of file client.cpp.

hostsCallback()

void rgbd::Client::hostsCallback ( const std_msgs::StringConstPtr &  msg )

protected

Definition at line 98 of file client.cpp.

initialize()

bool rgbd::Client::initialize	(	const std::string &	server_name,
		float	timeout = 5.0
	)

Initialize the client.

Parameters

server_name	Fully resolved server name
timeout	Timeout used to initialize each interface, currently only the ClientSHM interface requires a timeout

Returns

indicates success

Definition at line 34 of file client.cpp.

initialized()

bool rgbd::Client::initialized ( )

inline

Check if the client is initialized. Checks if nh_ is exists. nextImage will not return an image if client is not initialized.

Returns

initialized or not

Definition at line 62 of file client.h.

nextImage() [1/2]

ImagePtr rgbd::Client::nextImage

(

)

Get a new Image. If no new image has been received since the last call, The ImagePtr will be a nullptr.

Returns

ImagePtr to an Image or a nullptr

Definition at line 87 of file client.cpp.

nextImage() [2/2]

bool rgbd::Client::nextImage

(

Image &

image

)

Get a new Image. If no new image has been received since the last call, no image will be written and false will be returned.

Parameters

image

Image reference which will be written.

Returns

valid image written

Definition at line 76 of file client.cpp.

subHostsThreadFunc()

void rgbd::Client::subHostsThreadFunc ( const float  frequency )

protected

Definition at line 109 of file client.cpp.

Member Data Documentation

cb_queue_

ros::CallbackQueue rgbd::Client::cb_queue_

protected

Definition at line 91 of file client.h.

client_impl_mode_

ClientImplMode rgbd::Client::client_impl_mode_

protected

Definition at line 101 of file client.h.

client_rgbd_

ClientRGBD rgbd::Client::client_rgbd_

protected

Definition at line 86 of file client.h.

client_shm_

ClientSHM rgbd::Client::client_shm_

protected

Definition at line 88 of file client.h.

hostname_

std::string rgbd::Client::hostname_

protected

Definition at line 94 of file client.h.

last_time_shm_server_online_

ros::WallTime rgbd::Client::last_time_shm_server_online_

protected

Definition at line 97 of file client.h.

nh_

std::unique_ptr<ros::NodeHandle> rgbd::Client::nh_

protected

Definition at line 90 of file client.h.

server_name_

std::string rgbd::Client::server_name_

protected

Definition at line 95 of file client.h.

sub_hosts_thread_

std::thread rgbd::Client::sub_hosts_thread_

protected

Definition at line 99 of file client.h.

sub_shm_hosts_

ros::Subscriber rgbd::Client::sub_shm_hosts_

protected

Definition at line 92 of file client.h.

switch_impl_mutex_

std::mutex rgbd::Client::switch_impl_mutex_

protected

Definition at line 102 of file client.h.

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

• client.h
• client.cpp