Merge pull request #11 from athackst/nodelet

trainman419 · trainman419 · commit 050ddcb9d25c · 2014-10-21T14:38:06.000-07:00
updated prosilica driver to be a nodelet
diff --git a/README.md b/README.md
@@ -0,0 +1,16 @@
+prosilica_driver
+================
+
+Contains the ROS driver and the SDK for AVT/Prosilica cameras.
+
+This code was originally developed by Willow Garage and has been edited by Allison Thackston
+
+This software is released under a BSD license:
+
+Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
+
+Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
+Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
+Neither the name of the Carnegie Mellon University nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
diff --git a/prosilica_camera/CMakeLists.txt b/prosilica_camera/CMakeLists.txt
@@ -15,7 +15,10 @@ find_package(catkin REQUIRED COMPONENTS
    rosconsole
    dynamic_reconfigure 
    camera_calibration_parsers 
-   polled_camera)
+   polled_camera
+   nodelet
+   nodelet_topic_tools
+   )
 
 find_package(Boost REQUIRED COMPONENTS thread)
 
@@ -29,9 +32,14 @@ catkin_package()
 add_library(prosilica src/libprosilica/prosilica.cpp)
 target_link_libraries(prosilica ${catkin_LIBRARIES})
 
+add_library(prosilica_nodelet src/nodes/prosilica_nodelet.cpp)
+target_link_libraries(prosilica_nodelet prosilica ${catkin_LIBRARIES})
+class_loader_hide_library_symbols(prosilica_nodelet)
+
 add_executable(prosilica_node src/nodes/prosilica_node.cpp)
 target_link_libraries(prosilica_node 
-   prosilica 
+   prosilica
+   prosilica_nodelet
    ${Boost_LIBRARIES} 
    ${catkin_LIBRARIES})
 add_dependencies(prosilica_node 
@@ -58,13 +66,13 @@ target_link_libraries(set_inhibition prosilica ${catkin_LIBRARIES})
 install(TARGETS prosilica_node write_memory read_memory set_ip set_inhibition
    DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
 
-install(TARGETS prosilica
+install(TARGETS prosilica prosilica_nodelet
    RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
    ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
    LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
 
 install(DIRECTORY launch
    DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
 
-install(FILES prosilica.launch streaming.launch
+install(FILES prosilica.launch streaming.launch plugins/nodelet_plugins.xml
    DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
diff --git a/prosilica_camera/cfg/ProsilicaCamera.cfg b/prosilica_camera/cfg/ProsilicaCamera.cfg
@@ -8,14 +8,17 @@ from dynamic_reconfigure.parameter_generator_catkin import *
 gen = ParameterGenerator()
 
 mode_enum = gen.enum( [ gen.const("StreamingMode", str_t, "streaming", "Run at maximum frame rate"),
+                        gen.const("SoftwareMode",  str_t, "software",  "Trigger from software"),
                         gen.const("PolledMode",    str_t, "polled",    "Capture frame in response to service call"),
+                        gen.const("TriggerMode",   str_t, "triggered", "Capture frame in response to trigger topic"),
                         gen.const("FixedRateMode", str_t, "fixedrate", "Fixed Rate mode"),
                         gen.const("External1Mode", str_t, "syncin1",   "External trigger on SyncIn1 line"),
                         gen.const("External2Mode", str_t, "syncin2",   "External trigger on SyncIn2 line") ],
                       "Enum to set the trigger mode")
 
 #       Name                    Type      Reconfiguration level             Description         Default   Min   Max
-gen.add("trigger_mode",         str_t,    SensorLevels.RECONFIGURE_STOP,    "Camera trigger mode", "streaming", edit_method = mode_enum)
+gen.add("trigger_mode",         str_t,    SensorLevels.RECONFIGURE_STOP,    "Camera trigger mode", "fixedrate", edit_method = mode_enum)
+gen.add("trig_rate",            double_t, SensorLevels.RECONFIGURE_STOP,    "Sets the expected triggering rate in externally triggered mode.", 1, 1, 100)
 gen.add("auto_exposure",        bool_t,   SensorLevels.RECONFIGURE_RUNNING, "Sets the camera exposure duration to automatic. Causes the `~exposure` setting to be ignored.", True)
 gen.add("exposure",             double_t, SensorLevels.RECONFIGURE_RUNNING, "Camera exposure time in seconds.", 0.025, 0.000025, 60.0)
 gen.add("auto_gain",            bool_t,   SensorLevels.RECONFIGURE_RUNNING, "Sets the analog gain to automatic. Causes the `~gain` setting to be ignored.", True)
@@ -30,8 +33,7 @@ gen.add("y_offset",             int_t,    SensorLevels.RECONFIGURE_RUNNING, "Y o
 gen.add("width",                int_t,    SensorLevels.RECONFIGURE_RUNNING, "Width of the region of interest (0 for automatic).", 0, 0, 2448)
 gen.add("height",               int_t,    SensorLevels.RECONFIGURE_RUNNING, "Height of the region of interest (0 for automatic).", 0, 0, 2050)
 gen.add("frame_id",             str_t,    SensorLevels.RECONFIGURE_RUNNING, "The optical camera TF frame set in message headers.", "")
-gen.add("trig_timestamp_topic", str_t,    SensorLevels.RECONFIGURE_STOP,    "Sets the topic from which an externally trigged camera receives its trigger timestamps.", "")
-gen.add("trig_rate",            double_t, SensorLevels.RECONFIGURE_RUNNING, "Sets the expected triggering rate in externally triggered mode.", 15, 1, 100)
+gen.add("trig_timestamp_topic", str_t,    SensorLevels.RECONFIGURE_STOP,    "Sets the topic from which an externally trigged camera receives its trigger timestamps.", "trigger")
 gen.add("auto_adjust_stream_bytes_per_second", bool_t, SensorLevels.RECONFIGURE_RUNNING, "Whether the node should automatically adjust the data rate. Causes `~stream_bytes_per_second` to be ignored.", True)
 gen.add("stream_bytes_per_second", int_t, SensorLevels.RECONFIGURE_RUNNING, "Limits the data rate of the camera.", 45000000, 1, 115000000)
 gen.add("exposure_auto_max",    double_t, SensorLevels.RECONFIGURE_RUNNING, "The max exposure time in auto exposure mode, in seconds.", 0.5, 0.000025, 60.0)
@@ -40,3 +42,4 @@ gen.add("gain_auto_max",        int_t,    SensorLevels.RECONFIGURE_RUNNING, "The
 gen.add("gain_auto_target",     int_t,    SensorLevels.RECONFIGURE_RUNNING, "The auto gain target mean value as a percentage, from 0=black to 100=white.", 50, 0, 100)
 
 exit(gen.generate(PACKAGE, "prosilica_driver", "ProsilicaCamera"))
+
diff --git a/prosilica_camera/include/prosilica/prosilica.h b/prosilica_camera/include/prosilica/prosilica.h
@@ -37,6 +37,7 @@
 
 #include <stdexcept>
 #include <string>
+#include <sstream>
 #include <boost/function.hpp>
 #include <boost/thread.hpp>
 
@@ -48,6 +49,15 @@
 #undef _LINUX
 #undef _x86
 
+
+template <class T>
+inline std::string to_string (const T& t)
+{
+    std::stringstream ss;
+    ss << t;
+    return ss.str();
+}
+
 namespace prosilica {
 
 struct ProsilicaException : public std::runtime_error
@@ -58,11 +68,21 @@ struct ProsilicaException : public std::runtime_error
     : std::runtime_error(msg), error_code(code)
   {}
 };
+struct CameraInfo
+{
+    std::string serial;
+    std::string name;
+    std::string guid;
+    std::string ip_address;
+    bool access;
+};
 
-void init();                // initializes API
-void fini();                // releases internal resources
-size_t numCameras();        // number of cameras found
-uint64_t getGuid(size_t i); // camera ids
+void init();                  // initializes API
+void fini();                  // releases internal resources
+size_t numCameras();          // number of cameras found
+uint64_t getGuid(size_t i);   // camera ids
+std::vector<CameraInfo> listCameras(); // get list of cameras available
+std::string getIPAddress(uint64_t guid); //get ip address data from guid
 
 /// According to FrameStartTriggerMode Enum - AVT GigE Camera and Driver Attributes
 /// Firmware 1.38 April 7,2010
@@ -104,10 +124,14 @@ class Camera
   //! Must be used before calling start() in a non-triggered mode.
   void setFrameCallback(boost::function<void (tPvFrame*)> callback);
   void setFrameRate(tPvFloat32 frame_rate);
+
+  void setKillCallback(boost::function<void (unsigned long)> callback);
   //! Start capture.
-  void start(FrameStartTriggerMode = Freerun, AcquisitionMode = Continuous);
+  void start(FrameStartTriggerMode = Freerun, tPvFloat32 frame_rate = 30, AcquisitionMode = Continuous);
   //! Stop capture.
   void stop();
+  //! remove callback
+  void removeEvents();
   //! Capture a single frame from the camera. Must be called after
   //! start(Software Triggered).
   tPvFrame* grab(unsigned long timeout_ms = PVINFINITE);
@@ -159,13 +183,21 @@ class Camera
   FrameStartTriggerMode FSTmode_;
   AcquisitionMode Amode_;
   boost::function<void (tPvFrame*)> userCallback_;
+  boost::function<void (unsigned long UniqueId)> killCallback_;
   boost::mutex frameMutex_;
+  boost::mutex aliveMutex_;
+  size_t bufferIndex_;
 
   void setup();
   
   static void frameDone(tPvFrame* frame);
+  static void kill(void* Context,
+                    tPvInterface Interface,
+                    tPvLinkEvent Event,
+                    unsigned long UniqueId);
 };
 
 } // namespace prosilica
 
 #endif
+
diff --git a/prosilica_camera/package.xml b/prosilica_camera/package.xml
@@ -10,6 +10,7 @@
   <!-- <url type="bugtracker"></url> -->
 
   <author>Maintained by William Woodall - wwoodall@willowgarage.com</author>
+  <author>Contributions by Allison Thackston - allison.thackston@nasa.gov</author>
 
   <buildtool_depend>catkin</buildtool_depend>
 
@@ -26,6 +27,8 @@
   <build_depend>camera_calibration_parsers</build_depend>
   <build_depend>polled_camera</build_depend>
   <build_depend>rosconsole</build_depend>
+  <build_depend>nodelet</build_depend>
+  <build_depend>nodelet_topic_tools</build_depend>
 
   <run_depend>prosilica_gige_sdk</run_depend>
   <run_depend>roscpp</run_depend>
@@ -39,5 +42,11 @@
   <run_depend>dynamic_reconfigure</run_depend>
   <run_depend>camera_calibration_parsers</run_depend>
   <run_depend>polled_camera</run_depend>
+  <run_depend>nodelet</run_depend>
+  <run_depend>nodelet_topic_tools</run_depend>
+  
+  <export>
+    <nodelet plugin="${prefix}/plugins/nodelet_plugins.xml" />
+  </export>
 
 </package>
diff --git a/prosilica_camera/plugins/nodelet_plugins.xml b/prosilica_camera/plugins/nodelet_plugins.xml
@@ -0,0 +1,8 @@
+<library path="lib/libprosilica_nodelet">
+  <class name="prosilica_camera/driver" type="prosilica_camera::ProsilicaNodelet" base_class_type="nodelet::Nodelet">
+    <description>
+      A nodelet version of the prosilica camera driver
+    </description>
+  </class>
+</library>
+
diff --git a/prosilica_camera/src/libprosilica/prosilica.cpp b/prosilica_camera/src/libprosilica/prosilica.cpp
diff --git a/prosilica_camera/src/nodes/prosilica_node.cpp b/prosilica_camera/src/nodes/prosilica_node.cpp
diff --git a/prosilica_camera/src/nodes/prosilica_nodelet.cpp b/prosilica_camera/src/nodes/prosilica_nodelet.cpp
