Only publish hostname incase shm is really going to be opened

rgbd/include/rgbd/server.h

@@ -8,6 +8,7 @@
 #include <ros/node_handle.h>
 #include <ros/publisher.h>
 
+#include <memory>
 #include <thread>
 
 namespace rgbd {
@@ -55,10 +56,11 @@ class Server {
 
     ros::NodeHandle nh_;
 
+    std::string name_;
     std::string hostname_;
 
     // Publisher thread
-    std::thread pub_hostname_thread_;
+    std::unique_ptr<std::thread> pub_hostname_thread_ptr_;
 
 };
 

rgbd/src/client.cpp

@@ -106,7 +106,7 @@ void Client::subHostsThreadFunc(const float frequency)
             {
                 ROS_DEBUG("Switching from ClientRGBD to ClientSHM");
                 client_rgbd_.deintialize();
-                client_shm_.intialize(server_name_, d.toSec());
+                client_shm_.intialize(server_name_, 0);
             }
         }
         r.sleep();

rgbd/src/rgbd_to_shm.cpp

@@ -13,6 +13,7 @@
 #include <std_msgs/String.h>
 
 #include <functional>
+#include <memory>
 #include <thread>
 
 
@@ -39,7 +40,7 @@ int main(int argc, char **argv)
     server.initialize(server_name);
 
     ros::NodeHandle nh;
-    std::thread pub_hostname_thread(rgbd::pubHostnameThreadFunc, std::ref(nh), server_name, host_name, 10);
+    std::unique_ptr<std::thread> pub_hostname_thread_ptr(nullptr);
 
     rgbd::ImagePtr image_ptr;
 
@@ -48,12 +49,17 @@ int main(int argc, char **argv)
     {
         image_ptr = client.nextImage();
         if (image_ptr)
+        {
+            if (!pub_hostname_thread_ptr)
+                pub_hostname_thread_ptr = std::unique_ptr<std::thread>(new std::thread(rgbd::pubHostnameThreadFunc, std::ref(nh), server_name, host_name, 10));
             server.send(*image_ptr);
+        }
         r.sleep();
     }
 
     nh.shutdown();
-    pub_hostname_thread.join();
+    if(pub_hostname_thread_ptr)
+        pub_hostname_thread_ptr->join();
 
     return 0;
 }

rgbd/src/server.cpp

@@ -9,7 +9,7 @@ namespace rgbd {
 
 // ----------------------------------------------------------------------------------------
 
-Server::Server()
+Server::Server() : pub_hostname_thread_ptr_(nullptr)
 {
     const std::string& hostname = get_hostname();
     hostname_ = hostname;
@@ -19,24 +19,27 @@ Server::Server()
 
 Server::~Server()
 {
+    ROS_WARN("Server::~Server()");
     nh_.shutdown();
-    pub_hostname_thread_.join();
+    if (pub_hostname_thread_ptr_)
+        pub_hostname_thread_ptr_->join();
 }
 
 // ----------------------------------------------------------------------------------------
 
 void Server::initialize(const std::string& name, RGBStorageType rgb_type, DepthStorageType depth_type, const float service_freq)
 {
-    server_rgbd_.initialize(name, rgb_type, depth_type, service_freq);
-    server_shm_.initialize(name);
-
-    pub_hostname_thread_ = std::thread(rgbd::pubHostnameThreadFunc, std::ref(nh_), name, hostname_, 10);
+    name_= name;
+    server_rgbd_.initialize(name_, rgb_type, depth_type, service_freq);
+    server_shm_.initialize(name_);
 }
 
 // ----------------------------------------------------------------------------------------
 
 void Server::send(const Image& image, bool)
 {
+    if (!pub_hostname_thread_ptr_)
+        pub_hostname_thread_ptr_ = std::unique_ptr<std::thread>(new std::thread(rgbd::pubHostnameThreadFunc, std::ref(nh_), name_, hostname_, 10));
     server_rgbd_.send(image);
     server_shm_.send(image);
 }