From: <tum...@li...> - 2012-02-14 13:28:08
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Revision: 993 http://tum-ros-pkg.svn.sourceforge.net/tum-ros-pkg/?rev=993&view=rev Author: moesenle Date: 2012-02-14 13:27:57 +0000 (Tue, 14 Feb 2012) Log Message: ----------- Author: Dejan Pangercic <dej...@gm...> Date: Tue Feb 14 14:27:37 2012 +0100 commit 87397cf1d1b5ccd96507252dcc26e0379750e2ba Author: Dejan Pangercic <dej...@gm...> Date: Tue Feb 14 14:27:08 2012 +0100 server side of service for trigering the barcode recognition from a QT client commit d9f59658e46f74926677d131c1941e1fed7e9fdb Author: Dejan Pangercic <dej...@cs...> Date: Sun Feb 5 19:32:04 2012 +0100 public export git-commit Modified Paths: -------------- perception/zbar_barcode_reader_node/CMakeLists.txt perception/zbar_barcode_reader_node/src/zbar_barcode_reader_node.cpp Modified: perception/zbar_barcode_reader_node/CMakeLists.txt =================================================================== --- perception/zbar_barcode_reader_node/CMakeLists.txt 2012-02-13 09:08:17 UTC (rev 992) +++ perception/zbar_barcode_reader_node/CMakeLists.txt 2012-02-14 13:27:57 UTC (rev 993) @@ -19,7 +19,7 @@ #uncomment if you have defined messages #rosbuild_genmsg() #uncomment if you have defined services -#rosbuild_gensrv() +rosbuild_gensrv() #common commands for building c++ executables and libraries #rosbuild_add_library(${PROJECT_NAME} src/example.cpp) Modified: perception/zbar_barcode_reader_node/src/zbar_barcode_reader_node.cpp =================================================================== --- perception/zbar_barcode_reader_node/src/zbar_barcode_reader_node.cpp 2012-02-13 09:08:17 UTC (rev 992) +++ perception/zbar_barcode_reader_node/src/zbar_barcode_reader_node.cpp 2012-02-14 13:27:57 UTC (rev 993) @@ -12,6 +12,7 @@ #include "curl/curl.h" #include "tinyxml.h" #include <highgui.h> +#include <zbar_barcode_reader_node/enable_barcode_reader.h> //Magick++ lib #include <Magick++.h> @@ -29,6 +30,7 @@ std:: string tag3_;// = "picture_low"; std:: string pattern_;// = "<meta property=\"og:image\" content=\""; TiXmlDocument doc; + int enable_barcode_reader_; public: struct memoryStruct { @@ -64,12 +66,22 @@ barcode_pub_ = n_.advertise<std_msgs::String>(output_barcode_topic_, 1); cv::namedWindow ("Barcoo img"); + enable_barcode_reader_ = 0; + service_ = n.advertiseService("enable_barcode_reader_service", &BarcodeReaderNode::enable_barcode_reader,this); } ~BarcodeReaderNode() { cv::destroyAllWindows(); } + + bool enable_barcode_reader(zbar_barcode_reader_node::enable_barcode_reader::Request &req, + zbar_barcode_reader_node::enable_barcode_reader::Response &res ) + { + enable_barcode_reader_ = req.enable; + return true; + } + static void* CURL_realloc(void *ptr, size_t size) { /* There might be a realloc() out there that doesn't like reallocing @@ -79,7 +91,7 @@ else return malloc(size); } - + static size_t WriteMemoryCallback (void *ptr, size_t size, size_t nmemb, void *data) { @@ -290,10 +302,12 @@ } return -1; } - + void imageCallback(const sensor_msgs::ImageConstPtr& msg_ptr) { - + + if(!enable_barcode_reader_) + return; IplImage *cv_image = NULL; ROS_INFO("[BarcodeReaderNode: ] Image received"); try @@ -417,6 +431,7 @@ ros::Publisher barcode_pub_; sensor_msgs::CvBridge bridge_; std::string input_image_topic_, output_barcode_topic_; + ros::ServiceServer service_; }; int main(int argc, char** argv) This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site. |