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Add Grabber::toggle() method #3615

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merged 2 commits into from
Feb 4, 2020
Merged

Add Grabber::toggle() method #3615

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f786bf4
Add a toggle option to grabber
kunaltyagi Jan 31, 2020
71e81c5
Adding noexcept to dtor, removing ctor
kunaltyagi Feb 4, 2020
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28 changes: 22 additions & 6 deletions io/include/pcl/io/grabber.h
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Original file line number Diff line number Diff line change
Expand Up @@ -57,12 +57,8 @@ namespace pcl
class PCL_EXPORTS Grabber
{
public:

/** \brief Constructor. */
Grabber () {}

/** \brief virtual destructor. */
virtual inline ~Grabber () throw ();
virtual inline ~Grabber () noexcept;

/** \brief registers a callback function/method to a signal with the corresponding signature
* \param[in] callback: the callback function/method
Expand Down Expand Up @@ -101,6 +97,13 @@ namespace pcl
virtual void
stop () = 0;

/** \brief For devices that are streaming, stopped streams are started and running stream are stopped.
* For triggered devices, the behavior is not defined.
* \return true if grabber is running / streaming. False otherwise.
*/
inline bool
toggle ();

/** \brief returns the name of the concrete subclass.
* \return the name of the concrete driver.
*/
Expand Down Expand Up @@ -151,12 +154,25 @@ namespace pcl
std::map<std::string, std::vector<boost::signals2::shared_connection_block> > shared_connections_;
} ;

Grabber::~Grabber () throw ()
Grabber::~Grabber () noexcept
{
for (auto &signal : signals_)
delete signal.second;
}

bool
Grabber::toggle ()
{
if (isRunning ())
{
stop ();
} else
{
start ();
}
return isRunning ();
}

template<typename T> boost::signals2::signal<T>*
Grabber::find_signal () const
{
Expand Down