server_shm.h

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#ifndef RGBD_SERVER_SHM_H_
#define RGBD_SERVER_SHM_H_
 
#include <boost/interprocess/shared_memory_object.hpp>
#include <boost/interprocess/mapped_region.hpp>
 
#include <ros/node_handle.h>
 
#include "rgbd/image_header.h"
#include "rgbd/types.h"
 
#include <memory>
#include <thread>
 
 
namespace rgbd
{
 
class ServerSHM
{
 
public:
 
    ServerSHM();
 
    ~ServerSHM();
 
    void initialize(const std::string& name);
 
    void send(const Image& image);
 
private:
 
    std::string shared_mem_name_;
 
    boost::interprocess::shared_memory_object shm_;
 
    boost::interprocess::mapped_region mem_buffer_header_;
    boost::interprocess::mapped_region mem_image_;
 
    BufferHeader* buffer_header_;
    unsigned char* image_data_;
 
    uint64_t rgb_data_size_;
    uint64_t depth_data_size_;
    uint64_t image_data_size_;
 
    ros::NodeHandle nh_; // Nodehandle to stop the SHM check thread
 
    // SHM check thread
    std::unique_ptr<std::thread> check_shm_thread_ptr_;
 
    void checkSHMThreadFunc(const float frequency);
};
 
void pubHostnameThreadFunc(ros::NodeHandle& nh, const std::string server_name, const std::string hostname, const float frequency);
 
} // end namespace rgbd
 
#endif // RGBD_SERVER_SHM_H_