Improve rosout logging

cfg/AvtVimbaCamera.cfg

@@ -189,7 +189,7 @@ gen.add("offset_y",               int_t,    SensorLevels.RECONFIGURE_RUNNING, "Y
 # PIXEL FORMAT
 gen.add("pixel_format",           str_t,    SensorLevels.RECONFIGURE_CLOSE,   "Format of the image data.", "Mono8", edit_method=pixelformat_enum)
 # BANDWIDTH
-gen.add("stream_bytes_per_second",int_t,    SensorLevels.RECONFIGURE_RUNNING, "Limits the data rate of the camera.", 45000000, 1, 115000000)
+gen.add("stream_bytes_per_second",int_t,    SensorLevels.RECONFIGURE_RUNNING, "Limits the data rate of the camera.", 124000000, 1, 125000000)
 # PTP
 gen.add("ptp_mode",               str_t,    SensorLevels.RECONFIGURE_RUNNING, "Controls the PTP behavior of the clock port.", "Off", edit_method=ptp_mode_enum)
 # GPIO

include/avt_vimba_camera/avt_vimba_api.h

@@ -66,7 +66,7 @@ class AvtVimbaApi {
 
   /** Translates Vimba error codes to readable error messages
     *
-    * @param error Vimba error tyme
+    * @param error Vimba error type
     * @return readable string error
     *
     **/
@@ -100,6 +100,33 @@ class AvtVimbaApi {
     return "Unsupported error code passed.";
   }
 
+  std::string interfaceToString(VmbInterfaceType interfaceType) {
+    switch (interfaceType) {
+      case VmbInterfaceFirewire: return "FireWire";
+        break;
+      case VmbInterfaceEthernet: return "GigE";
+        break;
+      case VmbInterfaceUsb: return "USB";
+        break;
+      default: return "Unknown";
+    }
+  }
+
+  std::string accessModeToString(VmbAccessModeType modeType) {
+    if (modeType & VmbAccessModeFull)
+      return "Read and write access";
+    else if (modeType & VmbAccessModeRead)
+      return "Only read access";
+    else if (modeType & VmbAccessModeConfig)
+      return "Device configuration access";
+    else if (modeType & VmbAccessModeLite)
+      return "Device read/write access without feature access (only addresses)";
+    else if (modeType & VmbAccessModeNone)
+      return "No access";
+    else
+      return "Undefined access";
+  }
+
   bool frameToImage(const FramePtr vimba_frame_ptr, sensor_msgs::Image& image) {
     VmbPixelFormatType pixel_format;
     VmbUint32_t width, height, nSize;
@@ -171,55 +198,68 @@ class AvtVimbaApi {
   VimbaSystem& vs;
 
   void listAvailableCameras(void) {
-    std::string name;
+    ROS_INFO("Searching for cameras ...");
     CameraPtrVector cameras;
     if (VmbErrorSuccess == vs.Startup()) {
       if (VmbErrorSuccess == vs.GetCameras(cameras)) {
-        for (CameraPtrVector::iterator iter = cameras.begin();
-        cameras.end() != iter;
-        ++iter) {
-          if (VmbErrorSuccess == (*iter)->GetName(name)) {
-            ROS_DEBUG_STREAM("[" << ros::this_node::getName() << "]: Found camera: ");
+        for (const auto& camera : cameras) {
+          std::string strID;
+          std::string strName;
+          std::string strModelname;
+          std::string strSerialNumber;
+          std::string strInterfaceID;
+          VmbInterfaceType interfaceType;
+          VmbAccessModeType accessType;
+
+          VmbErrorType err = camera->GetID( strID );
+          if ( VmbErrorSuccess != err )
+          {
+            ROS_ERROR_STREAM("[Could not get camera ID. Error code: " << err << "]");
           }
-          std::string strID;            // The ID of the cam
-          std::string strName;          // The name of the cam
-          std::string strModelname;     // The model name of the cam
-          std::string strSerialNumber;  // The serial number of the cam
-          std::string strInterfaceID;  // The ID of the interface the cam is connected to
-          VmbErrorType err = (*iter)->GetID( strID );
+
+          err = camera->GetName( strName );
           if ( VmbErrorSuccess != err )
           {
-              ROS_ERROR_STREAM("[Could not get camera ID. Error code: " << err << "]");
+            ROS_ERROR_STREAM("[Could not get camera name. Error code: " << err << "]");
           }
-          err = (*iter)->GetName( strName );
+
+          err = camera->GetModel( strModelname );
+          if ( VmbErrorSuccess != err )
+          {
+            ROS_ERROR_STREAM("[Could not get camera mode name. Error code: " << err << "]");
+          }
+
+          err = camera->GetSerialNumber( strSerialNumber );
           if ( VmbErrorSuccess != err )
           {
-              ROS_ERROR_STREAM("[Could not get camera name. Error code: " << err << "]");
+            ROS_ERROR_STREAM("[Could not get camera serial number. Error code: " << err << "]");
           }
 
-          err = (*iter)->GetModel( strModelname );
+          err = camera->GetInterfaceID( strInterfaceID );
           if ( VmbErrorSuccess != err )
           {
-              ROS_ERROR_STREAM("[Could not get camera mode name. Error code: " << err << "]");
+            ROS_ERROR_STREAM("[Could not get interface ID. Error code: " << err << "]");
           }
 
-          err = (*iter)->GetSerialNumber( strSerialNumber );
+          err = camera->GetInterfaceType( interfaceType );
           if ( VmbErrorSuccess != err )
           {
-              ROS_ERROR_STREAM("[Could not get camera serial number. Error code: " << err << "]");
+            ROS_ERROR_STREAM("[Could not get interface type. Error code: " << err << "]");
           }
 
-          err = (*iter)->GetInterfaceID( strInterfaceID );
+          err = camera->GetPermittedAccess( accessType );
           if ( VmbErrorSuccess != err )
           {
-              ROS_ERROR_STREAM("[Could not get interface ID. Error code: " << err << "]");
+            ROS_ERROR_STREAM("[Could not get access type. Error code: " << err << "]");
           }
-          ROS_INFO_STREAM("\t/// Camera Name: " << strName);
-          ROS_INFO_STREAM("\t/// Model Name: " << strModelname);
-          ROS_INFO_STREAM("\t/// Camera ID: " << strID);
-          ROS_INFO_STREAM("\t/// Serial Number: " << strSerialNumber);
-          ROS_INFO_STREAM("\t/// @ Interface ID: " << strInterfaceID);
 
+          ROS_INFO_STREAM("Found camera named " << strName << ":");
+          ROS_INFO_STREAM(" - Model Name     : " << strModelname);
+          ROS_INFO_STREAM(" - Camera ID      : " << strID);
+          ROS_INFO_STREAM(" - Serial Number  : " << strSerialNumber);
+          ROS_INFO_STREAM(" - Interface ID   : " << strInterfaceID);
+          ROS_INFO_STREAM(" - Interface type : " << interfaceToString(interfaceType));
+          ROS_INFO_STREAM(" - Access type    : " << accessModeToString(accessType));
         }
       } else {
         ROS_WARN("Could not get cameras from Vimba System");

include/avt_vimba_camera/avt_vimba_camera.h

@@ -79,7 +79,7 @@ class AvtVimbaCamera {
  public:
   AvtVimbaCamera();
   AvtVimbaCamera(const std::string& name);
-  void start(const std::string& ip_str, const std::string& guid_str, const std::string& frame_id, bool debug_prints = true);
+  void start(const std::string& ip_str, const std::string& guid_str, const std::string& frame_id, bool print_all_features = false);
   void stop();
   double getTimestamp(void);
   double getTimestampRealTime(VmbUint64_t timestamp_ticks);
@@ -128,7 +128,6 @@ class AvtVimbaCamera {
   bool opened_;
   bool streaming_;
   bool on_init_;
-  bool show_debug_prints_;
   std::string name_;
 
   diagnostic_updater::Updater updater_;
@@ -142,7 +141,7 @@ class AvtVimbaCamera {
   std::string trigger_source_;
   int trigger_source_int_;
 
-  CameraPtr openCamera(std::string id_str);
+  CameraPtr openCamera(const std::string& id_str, bool print_all_features);
 
   frameCallbackFunc userFrameCallback;
   void frameCallback(const FramePtr vimba_frame_ptr);
@@ -151,17 +150,14 @@ class AvtVimbaCamera {
   }
 
   template<typename T>
-  bool setFeatureValue(const std::string& feature_str, const T& val);
-  template<typename T>
-  bool setGetFeatureValue(const std::string& feature_str, const T& val_in, T& val_out);
+  VmbErrorType setFeatureValue(const std::string& feature_str, const T& val);
   template<typename Vimba_Type, typename Std_Type>
   void configureFeature(const std::string& feature_str, const Vimba_Type& val_in, Std_Type& val_out);
+  void configureFeature(const std::string& feature_str, const std::string& val_in, std::string& val_out);
   template<typename T>
   bool getFeatureValue(const std::string& feature_str, T& val);
   bool getFeatureValue(const std::string& feature_str, std::string& val);
   bool runCommand(const std::string& command_str);
-  std::string interfaceToString(VmbInterfaceType interfaceType);
-  std::string accessModeToString(VmbAccessModeType modeType);
   int getTriggerModeInt(std::string mode_str);
   void printAllCameraFeatures(const CameraPtr& camera);
 

include/avt_vimba_camera/mono_camera.h

@@ -66,7 +66,7 @@ class MonoCamera {
   std::string guid_;
   std::string camera_info_url_;
   std::string frame_id_;
-  bool show_debug_prints_;
+  bool print_all_features_;
   bool use_measurement_time_;
   int32_t ptp_offset_;
 

launch/mono_camera.launch

@@ -8,7 +8,7 @@
   <arg name="ptp_offset" default="-37" doc="Offset to add to the timestamp from the camera (s).
     Useful for converting from TAI to UTC time. Only applies if use_measurement_time is true"/>
   <arg name="camera_info_url" default="file://$(find avt_vimba_camera)/calibrations/calibration_example.yaml"/>
-  <arg name="show_debug_prints" default="true" doc="Show debug output on console"/>
+  <arg name="print_all_features" default="false" doc="Show all camera features on the console during startup"/>
   <arg name="image_proc" default="false" doc="Launch image_proc with driver"/>
 
   <!-- Camera parameters, these parameters are used to configure the AVT camera upon startup -->
@@ -86,7 +86,7 @@
     <param name="use_measurement_time" value="$(arg use_measurement_time)"/>
     <param name="ptp_offset" value="$(arg ptp_offset)"/>
     <param name="camera_info_url" value="$(arg camera_info_url)"/>
-    <param name="show_debug_prints" value="$(arg show_debug_prints)"/>=
+    <param name="print_all_features" value="$(arg print_all_features)"/>
 
     <param name="acquisition_mode" value="$(arg acquisition_mode)"/>
     <param name="acquisition_rate" value="$(arg acquisition_rate)"/>