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Resolve hostname as IP #13

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Resolve hostname as IP #13

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33 changes: 32 additions & 1 deletion prosilica_camera/src/nodes/prosilica_nodelet.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -49,6 +49,8 @@
#include <sensor_msgs/SetCameraInfo.h>

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@wjwwood wjwwood Jun 25, 2015

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nitpick: leave this line in

#include <boost/thread.hpp>
#include <netdb.h>
#include <arpa/inet.h>

#include <prosilica_camera/ProsilicaCameraConfig.h>
#include "prosilica/prosilica.h"
Expand Down Expand Up @@ -123,6 +125,7 @@ class ProsilicaNodelet : public nodelet::Nodelet
unsigned long guid_;
std::string hw_id_;
std::string ip_address_;
std::string hostname_;
double open_camera_retry_period_;
std::string trig_timestamp_topic_;
ros::Time trig_time_;
Expand Down Expand Up @@ -204,6 +207,8 @@ class ProsilicaNodelet : public nodelet::Nodelet

pn.param<std::string>("ip_address", ip_address_, "");
NODELET_INFO("Loaded ip address: %s", ip_address_.c_str());
pn.param<std::string>("hostname", hostname_, "");
NODELET_INFO("Loaded hostname: %s", hostname_.c_str());

pn.param<double>("open_camera_retry_period", open_camera_retry_period_, 3.);
NODELET_INFO("Retry period: %f", open_camera_retry_period_);
Expand Down Expand Up @@ -260,6 +265,29 @@ class ProsilicaNodelet : public nodelet::Nodelet

NODELET_INFO("Started Prosilica camera with guid \"%d\"", (int)camera_->guid());
}
else if(!hostname_.empty())
{
state_info_ = "Trying to load camera with hostname: " + hostname_;
NODELET_INFO("%s", state_info_.c_str());
/* Resolve hostname */
struct hostent *he;
if ((he = gethostbyname(hostname_.c_str())) != NULL)
{
std::string resolved_hostname = std::string(inet_ntoa(*(struct in_addr*)(he->h_addr)));
NODELET_INFO("hostname resolved as %s", resolved_hostname.c_str());
camera_ = boost::make_shared<prosilica::Camera>(resolved_hostname.c_str());
guid_ = camera_->guid();
hw_id_ = boost::lexical_cast<std::string>(guid_);
updater.setHardwareIDf("%d", guid_);

NODELET_INFO("Started Prosilica camera with guid \"%d\"", (int)camera_->guid());
}
else
{
NODELET_FATAL("Failed to resolve hostname: %s", hostname_.c_str());
throw std::runtime_error("Failed to resolve hostname");
}
}
else
{
updater.setHardwareID("unknown");
Expand Down Expand Up @@ -296,7 +324,10 @@ class ProsilicaNodelet : public nodelet::Nodelet
{
err << "Unable to open prosilica camera with ip address " << ip_address_ <<": "<<e.what();
}

else if (hostname_ != "")
{
err << "Unable to open prosilica camera with hostname " << hostname_ <<": "<<e.what();
}
state_info_ = err.str();
NODELET_WARN("%s", state_info_.c_str());
if(prosilica::numCameras() > 0)
Expand Down