// Copyright 2021 Bey Hao Yun

//

// 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.

#include <memory>

#include "rclcpp/rclcpp.hpp"

#include "virtual_camera/virtual_camera.hpp"

#include "virtual_camera/image_viewer.hpp"

int main(int argc, char * argv[])

{

rclcpp::init(argc, argv);

rclcpp::executors::SingleThreadedExecutor executor;

// Connect the nodes as a pipeline: vcamera_node -> image_view_node

// Instantiate VirtualCamera ROS 2 node.

std::shared_ptr<VirtualCamera> vcamera_node = nullptr;

try {

vcamera_node = std::make_shared<VirtualCamera>();

} catch (const std::exception & e) {

fprintf(stderr, "%s Exiting ..\n", e.what());

return 1;

}

// Declare a boolean parameter

vcamera_node->declare_parameter("use_image_viewer", false);

// Get the boolean parameter value to determine

// if the image_view_node should be activated.

bool imageviewer_flag = vcamera_node->get_parameter("use_image_viewer").as_bool();

RCLCPP_INFO(

vcamera_node->get_logger(), "use_image_viewer set to: [%s]",

imageviewer_flag ? "true" : "false");

// Instantiate ImageViewer ROS 2 node.

auto image_view_node = std::make_shared<ImageViewer>();

// Add VirtualCamera ROS 2 node to intra-process executor

executor.add_node(vcamera_node);

// If use_image_viewer ROS 2 parameter is set to true,

// add ImageViewer ROS 2 node to intra-process executor.

if (imageviewer_flag) {

executor.add_node(image_view_node);

}

executor.spin();

rclcpp::shutdown();

return 0;

}