ros2 component stable version

include/image2rtsp.hpp

@@ -1,41 +1,47 @@
-#ifndef IMAGE2RTSP_IMAGE2RTSP_HPP
-#define IMAGE2RTSP_IMAGE2RTSP_HPP
+#ifndef IMAGE2RTSP__IMAGE2RTSP_HPP_
+#define IMAGE2RTSP__IMAGE2RTSP_HPP_
 
+#include "visibility_control.h"
 #include <gst/gst.h>
 #include <gst/rtsp-server/rtsp-server.h>
 #include <rclcpp/rclcpp.hpp>
 #include <string>
 #include "sensor_msgs/msg/image.hpp"
+#include <gst/app/gstappsrc.h>
 
 using namespace std;
 
-class Image2rtsp : public rclcpp::Node{
+class Image2rtsp : public rclcpp::Node
+{
 public:
-    Image2rtsp();
-    GstRTSPServer *rtsp_server;
+  IMAGE2RTSP_PUBLIC
+  explicit Image2rtsp(const rclcpp::NodeOptions & options);
+  GstRTSPServer *rtsp_server;
 
 private:
-    string topic;
-    string mountpoint;
-    string bitrate;
-    string caps;
-    string port;
-    string pipeline;
-    string pipeline_head;
-    string pipeline_tail;
-    bool local_only;
-    GstAppSrc *appsrc;
+  string topic = "/color/image_raw";
+  string mountpoint = "/rs";
+  string bitrate = "500";
+  string framerate = "30";
+  string caps = "video/x-raw,framerate=" + framerate + "/1,width=1280,height=720";
+  string port = "8554";
+  string pipeline;
+  string pipeline_head;
+  string pipeline_tail;
+  bool local_only = false;
+  GstAppSrc *appsrc;
 
-    void video_mainloop_start();
-    void rtsp_server_add_url(const char *url, const char *sPipeline, GstElement **appsrc);
-    void topic_callback(const sensor_msgs::msg::Image::SharedPtr msg);
-    GstRTSPServer *rtsp_server_create(const string &port, const bool local_only);
-    GstCaps *gst_caps_new_from_image(const sensor_msgs::msg::Image::SharedPtr &msg);
-    rclcpp::Subscription<sensor_msgs::msg::Image>::SharedPtr subscription_;
+  void video_mainloop_start();
+  void rtsp_server_add_url(const char *url, const char *sPipeline, GstElement **appsrc);
+  void topic_callback(const sensor_msgs::msg::Image::SharedPtr msg);
+  GstRTSPServer *rtsp_server_create(const string &port, const bool local_only);
+  GstCaps *gst_caps_new_from_image(const sensor_msgs::msg::Image::SharedPtr &msg);
+  rclcpp::Subscription<sensor_msgs::msg::Image>::SharedPtr subscription_;
 };
 
 static void media_configure(GstRTSPMediaFactory *factory, GstRTSPMedia *media, GstElement **appsrc);
 static void *mainloop(void *arg);
 static gboolean session_cleanup(Image2rtsp *node, rclcpp::Logger logger, gboolean ignored);
 
-#endif // IMAGE2RTSP_IMAGE2RTSP_HPP
+
+#endif  // IMAGE2RTSP__IMAGE2RTSP_HPP_

include/visibility_control.h

@@ -0,0 +1,44 @@
+#ifndef IMAGE2RTSP__VISIBILITY_CONTROL_H_
+#define IMAGE2RTSP__VISIBILITY_CONTROL_H_
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+// This logic was borrowed (then namespaced) from the examples on the gcc wiki:
+//     https://gcc.gnu.org/wiki/Visibility
+
+#if defined _WIN32 || defined __CYGWIN__
+  #ifdef __GNUC__
+    #define IMAGE2RTSP_EXPORT __attribute__ ((dllexport))
+    #define IMAGE2RTSP_IMPORT __attribute__ ((dllimport))
+  #else
+    #define IMAGE2RTSP_EXPORT __declspec(dllexport)
+    #define IMAGE2RTSP_IMPORT __declspec(dllimport)
+  #endif
+  #ifdef IMAGE2RTSP_BUILDING_DLL
+    #define IMAGE2RTSP_PUBLIC IMAGE2RTSP_EXPORT
+  #else
+    #define IMAGE2RTSP_PUBLIC IMAGE2RTSP_IMPORT
+  #endif
+  #define IMAGE2RTSP_PUBLIC_TYPE IMAGE2RTSP_PUBLIC
+  #define IMAGE2RTSP_LOCAL
+#else
+  #define IMAGE2RTSP_EXPORT __attribute__ ((visibility("default")))
+  #define IMAGE2RTSP_IMPORT
+  #if __GNUC__ >= 4
+    #define IMAGE2RTSP_PUBLIC __attribute__ ((visibility("default")))
+    #define IMAGE2RTSP_LOCAL  __attribute__ ((visibility("hidden")))
+  #else
+    #define IMAGE2RTSP_PUBLIC
+    #define IMAGE2RTSP_LOCAL
+  #endif
+  #define IMAGE2RTSP_PUBLIC_TYPE
+#endif
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // IMAGE2RTSP__VISIBILITY_CONTROL_H_