client.h

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#ifndef RGBD_CLIENT_H_
#define RGBD_CLIENT_H_
 
#include "rgbd/types.h"
#include "rgbd/client_rgbd.h"
#include "rgbd/client_shm.h"
 
#include <ros/callback_queue.h>
#include <ros/node_handle.h>
#include <ros/subscriber.h>
#include <ros/time.h>
 
#include <std_msgs/String.h>
 
#include <memory>
#include <mutex>
#include <thread>
 
 
namespace rgbd {
 
class Client {
 
public:
 
    Client();
 
    virtual ~Client();
 
    bool initialize(const std::string& server_name, float timeout = 5.0);
 
    bool deinitialize();
 
    bool initialized() { return static_cast<bool>(nh_); }
 
    bool nextImage(Image& image);
 
    ImagePtr nextImage();
 
protected:
 
    enum class ClientImplMode {
        shm,
        rgbd
    };
 
    ClientRGBD client_rgbd_;
 
    ClientSHM client_shm_;
 
    std::unique_ptr<ros::NodeHandle> nh_;
    ros::CallbackQueue cb_queue_;
    ros::Subscriber sub_shm_hosts_;
 
    std::string hostname_;
    std::string server_name_;
 
    ros::WallTime last_time_shm_server_online_;
 
    std::thread sub_hosts_thread_;
 
    ClientImplMode client_impl_mode_;
    std::mutex switch_impl_mutex_;
 
    void hostsCallback(const std_msgs::StringConstPtr& msg);
 
    void subHostsThreadFunc(const float frequency);
 
};
 
}
 
#endif // RGBD_CLIENT_H_