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Adjust camera start/stop capture commands to lifetime of RS handle #9

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Adjust camera start/stop capture commands to lifetime of RS handle #9

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39 changes: 15 additions & 24 deletions ComponentRealSenseV2Server/smartsoft/src/ImageTask.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -78,30 +78,6 @@ ImageTask::~ImageTask()
_ring_buffer.clear();
}

void ImageTask::startCapturing() {
SmartACE::SmartGuard(COMP->RealSenseMutex);
if (COMP->smart_rs_device != NULL) {
COMP->smart_rs_device->startVideo();

}
if (COMP->getGlobalState().getSettings().getDebug_info()) {
std::cout << "[Image Task] Start capturing\n";
}
}

void ImageTask::stopCapturing() {
SmartACE::SmartGuard guard(COMP->RealSenseMutex);
if (COMP->smart_rs_device != NULL) {
COMP->smart_rs_device->stopVideo();
}

if (COMP->getGlobalState().getSettings().getDebug_info()) {
std::cout << "[Image Task] Stop capturing\n";
}
}



int ImageTask::on_entry()
{
ParameterStateStruct global_state = COMP->getGlobalState();
Expand Down Expand Up @@ -146,6 +122,11 @@ int ImageTask::on_entry()
device_serial_number, base_line);

COMP->smart_rs_device->set_is_postprocess_enabled(global_state.getSettings().getPost_processing());
COMP->smart_rs_device->startVideo();

if (COMP->getGlobalState().getSettings().getDebug_info()) {
std::cout << "[Image Task] Start capturing\n";
}

return 0;
}
Expand Down Expand Up @@ -310,5 +291,15 @@ int ImageTask::on_execute()
int ImageTask::on_exit()
{
// use this method to clean-up resources which are initialized in on_entry() and needs to be freed before the on_execute() can be called again
SmartACE::SmartGuard guard(COMP->RealSenseMutex);
COMP->smart_rs_device->stopVideo();

if (COMP->getGlobalState().getSettings().getDebug_info()) {
std::cout << "[Image Task] Stop capturing\n";
}

delete COMP->smart_rs_device;
COMP->smart_rs_device = NULL;

return 0;
}
2 changes: 0 additions & 2 deletions ComponentRealSenseV2Server/smartsoft/src/ImageTask.hh
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Original file line number Diff line number Diff line change
Expand Up @@ -65,8 +65,6 @@ public:
virtual int on_execute();
virtual int on_exit();

void startCapturing();
void stopCapturing();
bool push_newest_rgbd;
bool push_newest_rgb;
bool push_newest_depth;
Expand Down
17 changes: 0 additions & 17 deletions ComponentRealSenseV2Server/smartsoft/src/SmartStateChangeHandler.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -55,27 +55,10 @@
void SmartStateChangeHandler::handleEnterState(const std::string & substate) throw()
{
std::cout<<"handleEnterState: "<<substate<<std::endl;
if (substate == "nonneutral") {
COMP->imageTask->startCapturing();
}
if (substate == "pushimage"){
//COMP->colorImagePushNewestServer->start();
//std::cout << "Push Newest started.\n";
}

}

// Called when a substate is left
void SmartStateChangeHandler::handleQuitState(const std::string & substate) throw()
{
std::cout<<"handleQuitState: "<<substate<<std::endl;
if (substate == "nonneutral") {
COMP->imageTask->stopCapturing();
}

if (substate == "pushimage"){
//COMP->colorImagePushNewestServer->stop();
//std::cout << "Push Timed stopped.\n";
}

}