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* Copy useful pieces from Wilhelm-Marais' branch * Add Action1 in addition to Action0 * Working trigger example, sends on all interfaces for simplicity * Add timer or subscriber-based trigger * Fix some code formatting * Revert sigint handler * Check return value of vimba startup
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,53 @@ | ||
| #ifndef AVT_VIMBA_CAMERA_TRIGGER_H | ||
| #define AVT_VIMBA_CAMERA_TRIGGER_H | ||
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| #include "VimbaCPP/Include/VimbaCPP.h" | ||
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| #include <arpa/inet.h> | ||
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| #include <ros/ros.h> | ||
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| #include <std_msgs/Bool.h> | ||
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| namespace trigger | ||
| { | ||
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| class Trigger | ||
| { | ||
| public: | ||
| Trigger(); | ||
| ~Trigger(); | ||
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| void Init(); | ||
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| private: | ||
| void LoadParams(); | ||
| void InitializeAddress(); | ||
| bool PrepareActionCommand(); | ||
| bool SetIntFeatureValue(const std::string& name, int64_t value); | ||
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| void TimerCb(const ros::TimerEvent& event); | ||
| void TriggerCb(const std_msgs::Bool::ConstPtr& msg); | ||
| void SendActionCommand(); | ||
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| AVT::VmbAPI::VimbaSystem& vimba_system_; | ||
| AVT::VmbAPI::InterfacePtr interface_ptr_; | ||
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| ros::NodeHandle pnh_; | ||
| ros::NodeHandle nh_; | ||
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| ros::Timer trigger_timer_; | ||
| ros::Subscriber trigger_sub_; | ||
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| // Params | ||
| struct in_addr destination_ip_; | ||
| std::string trigger_src_; | ||
| float timer_period_; | ||
| int action_device_key_; | ||
| int action_group_key_; | ||
| int action_group_mask_; | ||
| }; | ||
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| } // namespace trigger | ||
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| #endif // AVT_VIMBA_CAMERA_TRIGGER_H |
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,17 @@ | ||
| <launch> | ||
| <arg name="destination_ip" default="192.168.255.255" doc="The ip address of the camera/s to be triggered" /> | ||
| <arg name="trigger_src" default="timer" doc="When to send action commands. Use 'timer' or 'subscriber'" /> | ||
| <arg name="timer_period" default="0.1" doc="Period of timer for sending action commands (s)" /> | ||
| <arg name="action_device_key" default="1" doc="The device key for the sent action" /> | ||
| <arg name="action_group_key" default="1" doc="The group key for the sent actions" /> | ||
| <arg name="action_group_mask" default="1" doc="The group mask for the sent actions" /> | ||
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| <node name="trigger_node" pkg="avt_vimba_camera" type="trigger_node" output="screen"> | ||
| <param name="destination_ip" value="$(arg destination_ip)" /> | ||
| <param name="trigger_src" value="$(arg trigger_src)" /> | ||
| <param name="timer_period" value="$(arg timer_period)" /> | ||
| <param name="action_device_key" value="$(arg action_device_key)" /> | ||
| <param name="action_group_key" value="$(arg action_group_key)" /> | ||
| <param name="action_group_mask" value="$(arg action_group_mask)" /> | ||
| </node> | ||
| </launch> |
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,12 @@ | ||
| #include "avt_vimba_camera/trigger.h" | ||
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| int main(int argc, char* argv[]) | ||
| { | ||
| ros::init(argc, argv, "trigger_node"); | ||
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| trigger::Trigger trigger; | ||
| trigger.Init(); | ||
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| ros::spin(); | ||
| return 0; | ||
| } |
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| Original file line number | Diff line number | Diff line change |
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| #include "avt_vimba_camera/trigger.h" | ||
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| namespace trigger | ||
| { | ||
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| Trigger::Trigger() : vimba_system_(AVT::VmbAPI::VimbaSystem::GetInstance()), pnh_("~") | ||
| {} | ||
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| Trigger::~Trigger() | ||
| { | ||
| vimba_system_.Shutdown(); | ||
| } | ||
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| void Trigger::Init() | ||
| { | ||
| VmbErrorType return_value = vimba_system_.Startup(); | ||
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| if (return_value != VmbErrorSuccess) | ||
| { | ||
| ROS_ERROR_STREAM("Failed to start Vimba system, vimba error code: " << return_value); | ||
| ros::shutdown(); | ||
| } | ||
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| LoadParams(); | ||
| InitializeAddress(); | ||
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| if (trigger_src_ == "timer") | ||
| { | ||
| trigger_timer_ = nh_.createTimer(ros::Duration(timer_period_), &Trigger::TimerCb, this); | ||
| } | ||
| else if (trigger_src_ == "subscriber") | ||
| { | ||
| trigger_sub_ = nh_.subscribe("trigger_input", 10, &Trigger::TriggerCb, this); | ||
| } | ||
| else | ||
| { | ||
| ROS_ERROR("Unknown trigger_src %s", trigger_src_.c_str()); | ||
| ros::shutdown(); | ||
| } | ||
| } | ||
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| void Trigger::LoadParams() | ||
| { | ||
| std::string destination_ip; | ||
| pnh_.param<std::string>("destination_ip", destination_ip, "192.168.3.40"); | ||
| pnh_.param<std::string>("trigger_src", trigger_src_, "timer"); | ||
| pnh_.param<float>("timer_period", timer_period_, 0.1); | ||
| pnh_.param<int>("action_device_key", action_device_key_, 1); | ||
| pnh_.param<int>("action_group_key", action_group_key_, 1); | ||
| pnh_.param<int>("action_group_mask", action_group_mask_, 1); | ||
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| if(inet_aton(destination_ip.c_str(), &destination_ip_) == 0) | ||
| { | ||
| ROS_ERROR("Unable to parse desination_ip: %s", destination_ip.c_str()); | ||
| ros::shutdown(); | ||
| } | ||
| } | ||
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| void Trigger::InitializeAddress() | ||
| { | ||
| VmbErrorType return_value = VmbErrorSuccess; | ||
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| if (!SetIntFeatureValue("GevActionDestinationIPAddress", destination_ip_.s_addr)) | ||
| { | ||
| ROS_ERROR("Could not set destination address"); | ||
| } | ||
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| ROS_INFO("Destination address set"); | ||
| } | ||
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| bool Trigger::PrepareActionCommand() | ||
| { | ||
| return (SetIntFeatureValue("ActionDeviceKey", 1) && | ||
| SetIntFeatureValue("ActionGroupKey", 1) && | ||
| SetIntFeatureValue("ActionGroupMask", 1)); | ||
| } | ||
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| // Sets an integer feature value on the vimba system | ||
| bool Trigger::SetIntFeatureValue(const std::string& name, int64_t value) | ||
| { | ||
| VmbErrorType return_value = VmbErrorSuccess; | ||
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| AVT::VmbAPI::FeaturePtr feature_ptr; | ||
| return_value = vimba_system_.GetFeatureByName(name.c_str(), feature_ptr); | ||
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| if (return_value != VmbErrorSuccess) | ||
| { | ||
| ROS_ERROR_STREAM("Failed to get feature, vimba error code: " << return_value); | ||
| return false; | ||
| } | ||
| else | ||
| { | ||
| return_value = feature_ptr->SetValue((VmbInt64_t)value); | ||
| } | ||
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| return (return_value == VmbErrorSuccess); | ||
| } | ||
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| void Trigger::TimerCb(const ros::TimerEvent& event) | ||
| { | ||
| SendActionCommand(); | ||
| } | ||
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| void Trigger::TriggerCb(const std_msgs::Bool::ConstPtr& msg) | ||
| { | ||
| SendActionCommand(); | ||
| } | ||
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| void Trigger::SendActionCommand() | ||
| { | ||
| if (!PrepareActionCommand()) | ||
| { | ||
| ROS_ERROR_THROTTLE(1.0, "Failed to prepare action command"); | ||
| return; | ||
| } | ||
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| VmbErrorType return_value = VmbErrorSuccess; | ||
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| AVT::VmbAPI::FeaturePtr lFeature; | ||
| return_value = vimba_system_.GetFeatureByName("ActionCommand", lFeature ); | ||
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| if(return_value == VmbErrorSuccess) | ||
| { | ||
| return_value = lFeature->RunCommand(); | ||
| } | ||
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| if (return_value == VmbErrorSuccess) | ||
| { | ||
| ROS_DEBUG("Action command sent"); | ||
| } | ||
| else | ||
| { | ||
| ROS_ERROR_THROTTLE(1.0, "Failed to send action command"); | ||
| } | ||
| } | ||
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| } // namespace trigger |