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Improve rosout logging #50

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merged 6 commits into from
Nov 26, 2021
Merged

Improve rosout logging #50

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f8f401e
Improve configuration rosout, add print_all_features rosparam
icolwell-as Nov 26, 2021
17d6c68
Remove debug_print parameter in favour of ROS_DEBUG API, clean up all…
icolwell-as Nov 26, 2021
abd7a99
Improve printing of all features, adjust default stream bytes
icolwell-as Nov 26, 2021
e60fea7
Revert change of error type
icolwell-as Nov 26, 2021
4972c25
Remove commented functions
icolwell-as Nov 26, 2021
3db7fe4
Update according to review
icolwell-as Nov 26, 2021
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2 changes: 1 addition & 1 deletion cfg/AvtVimbaCamera.cfg
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Original file line number Diff line number Diff line change
Expand Up @@ -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
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76 changes: 58 additions & 18 deletions include/avt_vimba_camera/avt_vimba_api.h
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Expand Up @@ -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
*
**/
Expand Down Expand Up @@ -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) {
std::string s;
if (modeType & VmbAccessModeFull)
s = std::string("Read and write access");
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How about return \"Read and write access\" so it matches interfaceToString function?

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Sounds good! this function was just moved from another file, I'll improve it though.

else if (modeType & VmbAccessModeRead)
s = std::string("Only read access");
else if (modeType & VmbAccessModeConfig)
s = std::string("Device configuration access");
else if (modeType & VmbAccessModeLite)
s = std::string("Device read/write access without feature access (only addresses)");
else if (modeType & VmbAccessModeNone)
s = std::string("No access");
return s;
}

bool frameToImage(const FramePtr vimba_frame_ptr, sensor_msgs::Image& image) {
VmbPixelFormatType pixel_format;
VmbUint32_t width, height, nSize;
Expand Down Expand Up @@ -171,26 +198,25 @@ 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();
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how about for (const auto& camera : cameras)?

cameras.end() != iter;
++iter) {
if (VmbErrorSuccess == (*iter)->GetName(name)) {
ROS_DEBUG_STREAM("[" << ros::this_node::getName() << "]: Found camera: ");
}
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
for (CameraPtrVector::iterator iter = cameras.begin(); cameras.end() != iter; ++iter) {
std::string strID;
std::string strName;
std::string strModelname;
std::string strSerialNumber;
std::string strInterfaceID;
VmbInterfaceType interfaceType;
VmbAccessModeType accessType;

VmbErrorType err = (*iter)->GetID( strID );
if ( VmbErrorSuccess != err )
{
ROS_ERROR_STREAM("[Could not get camera ID. Error code: " << err << "]");
}

err = (*iter)->GetName( strName );
if ( VmbErrorSuccess != err )
{
Expand All @@ -214,12 +240,26 @@ class AvtVimbaApi {
{
ROS_ERROR_STREAM("[Could not get interface ID. 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);

err = (*iter)->GetInterfaceType( interfaceType );
if ( VmbErrorSuccess != err )
{
ROS_ERROR_STREAM("[Could not get interface type. Error code: " << err << "]");
}

err = (*iter)->GetPermittedAccess( accessType );
if ( VmbErrorSuccess != err )
{
ROS_ERROR_STREAM("[Could not get access type. Error code: " << err << "]");
}

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");
Expand Down
12 changes: 4 additions & 8 deletions include/avt_vimba_camera/avt_vimba_camera.h
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Original file line number Diff line number Diff line change
Expand Up @@ -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);
Expand Down Expand Up @@ -128,7 +128,6 @@ class AvtVimbaCamera {
bool opened_;
bool streaming_;
bool on_init_;
bool show_debug_prints_;
std::string name_;

diagnostic_updater::Updater updater_;
Expand All @@ -142,7 +141,7 @@ class AvtVimbaCamera {
std::string trigger_source_;
int trigger_source_int_;

CameraPtr openCamera(std::string id_str);
CameraPtr openCamera(std::string id_str, bool print_all_features);
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const std::string&


frameCallbackFunc userFrameCallback;
void frameCallback(const FramePtr vimba_frame_ptr);
Expand All @@ -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);

Expand Down
2 changes: 1 addition & 1 deletion include/avt_vimba_camera/mono_camera.h
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Expand Up @@ -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_;

Expand Down
4 changes: 2 additions & 2 deletions launch/mono_camera.launch
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Expand Up @@ -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 -->
Expand Down Expand Up @@ -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)"/>
Expand Down
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