WGE100CameraDriver Class Reference

Inheritance diagram for WGE100CameraDriver:

[legend]

List of all members.

Classes
struct	ImagerSettings
Public Types
typedef wge100_camera::WGE100CameraConfig	Config
Public Member Functions
void	config_update (const Config &new_cfg, uint32_t level=0)
void	doClose ()
void	doOpen ()
void	doStart ()
void	doStop ()
int	get_rmem_max ()
std::string	getID ()
int	setTestMode (uint16_t mode, diagnostic_updater::DiagnosticStatusWrapper &status)
	WGE100CameraDriver ()
	~WGE100CameraDriver ()
Public Attributes
Config	config_
Private Types
typedef boost::function< int(size_t, size_t, uint8_t *, ros::Time, bool)	UseFrameFunction )
Private Member Functions
bool	boardConfig (wge100_camera::BoardConfig::Request &req, wge100_camera::BoardConfig::Response &rsp)
void	cameraStatus (diagnostic_updater::DiagnosticStatusWrapper &stat)
int	frameHandler (wge100FrameInfo *frame_info)
double	getExternallyTriggeredFrameTime (double firstPacketTime)
double	getFreeRunningFrameTime (double firstPacketTime)
double	getTriggeredFrameTime (double firstPacketTime)
void	imageThread ()
uint16_t	intrinsicsChecksum (uint16_t *data, int words)
bool	isColor ()
bool	loadIntrinsics (sensor_msgs::CameraInfo &cam_info)
bool	saveIntrinsics (const sensor_msgs::CameraInfo &cam_info)
int	setImagerSettings (MT9VImager &imager, ImagerSettings &cfg)
Static Private Member Functions
static int	frameHandler (wge100FrameInfo *frameInfo, void *userData)
Private Attributes
MT9VImagerPtr	alternate_imager_
IpCamList	camera_
double	desired_freq_
double	driver_start_time_
bool	dropped_packet_event_
int	dropped_packets_
bool	enable_alternate_
bool	enable_primary_
bool	first_frame_
FrameTimeFilter	frame_time_filter_
std::string	hwinfo_
std::string	image_encoding_
boost::shared_ptr< boost::thread >	image_thread_
MT9VImagerPtr	imager_
double	last_camera_ok_time_
unsigned int	last_frame_number_
double	last_image_time_
unsigned int	last_partial_frame_number_
in_addr	localIp_
sockaddr	localMac_
int	lost_image_thread_count_
int	massive_frame_losses_
int	missed_eof_count_
int	missed_line_count_
bool	next_is_alternate_
SlowTriggerFilter	no_timestamp_warning_filter_
int	rmem_max_
ros::ServiceClient	trig_service_
timestamp_tools::TriggerMatcher	trigger_matcher_
int	trigger_matcher_drop_count_
UseFrameFunction	useFrame_
Friends
class	WGE100CameraNode

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Detailed Description

Definition at line 288 of file wge100_camera_node.cpp.

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Member Typedef Documentation

typedef wge100_camera::WGE100CameraConfig WGE100CameraDriver::Config

Definition at line 293 of file wge100_camera_node.cpp.

typedef boost::function<int(size_t, size_t, uint8_t*, ros::Time, bool) WGE100CameraDriver::UseFrameFunction) [private]

Definition at line 341 of file wge100_camera_node.cpp.

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Constructor & Destructor Documentation

WGE100CameraDriver::WGE100CameraDriver

(

)

[inline]

Definition at line 433 of file wge100_camera_node.cpp.

WGE100CameraDriver::~WGE100CameraDriver

(

)

[inline]

Definition at line 500 of file wge100_camera_node.cpp.

---

Member Function Documentation

bool WGE100CameraDriver::boardConfig	(	wge100_camera::BoardConfig::Request &	req,
		wge100_camera::BoardConfig::Response &	rsp
	)			[inline, private]

Definition at line 1189 of file wge100_camera_node.cpp.

void WGE100CameraDriver::cameraStatus

(

diagnostic_updater::DiagnosticStatusWrapper &

stat

)

[inline, private]

Definition at line 839 of file wge100_camera_node.cpp.

void WGE100CameraDriver::config_update	(	const Config &	new_cfg,
		uint32_t	level = 0
	)			[inline]

Todo:

add more checks here for video mode and image offset.

Definition at line 453 of file wge100_camera_node.cpp.

void WGE100CameraDriver::doClose

(

)

[inline, virtual]

Implements driver_base::Driver.

Definition at line 704 of file wge100_camera_node.cpp.

void WGE100CameraDriver::doOpen

(

)

[inline, virtual]

Implements driver_base::Driver.

Definition at line 516 of file wge100_camera_node.cpp.

void WGE100CameraDriver::doStart

(

)

[inline, virtual]

Implements driver_base::Driver.

Definition at line 712 of file wge100_camera_node.cpp.

void WGE100CameraDriver::doStop

(

)

[inline, virtual]

Todo:

race condition here. Need to think more.

Implements driver_base::Driver.

Definition at line 750 of file wge100_camera_node.cpp.

static int WGE100CameraDriver::frameHandler	(	wge100FrameInfo *	frameInfo,
		void *	userData
	)			[inline, static, private]

Definition at line 1106 of file wge100_camera_node.cpp.

int WGE100CameraDriver::frameHandler

(

wge100FrameInfo *

frame_info

)

[inline, private]

Do we want to support rates less than 1 Hz?

Todo:

Could a deadlock happen here if the thread is

Definition at line 968 of file wge100_camera_node.cpp.

int WGE100CameraDriver::get_rmem_max

(

)

[inline]

Definition at line 506 of file wge100_camera_node.cpp.

double WGE100CameraDriver::getExternallyTriggeredFrameTime

(

double

firstPacketTime

)

[inline, private]

Definition at line 931 of file wge100_camera_node.cpp.

double WGE100CameraDriver::getFreeRunningFrameTime

(

double

firstPacketTime

)

[inline, private]

Definition at line 944 of file wge100_camera_node.cpp.

std::string WGE100CameraDriver::getID

(

)

[inline, virtual]

Implements driver_base::Driver.

Definition at line 806 of file wge100_camera_node.cpp.

double WGE100CameraDriver::getTriggeredFrameTime

(

double

firstPacketTime

)

[inline, private]

Definition at line 911 of file wge100_camera_node.cpp.

void WGE100CameraDriver::imageThread

(

)

[inline, private]

Definition at line 815 of file wge100_camera_node.cpp.

uint16_t WGE100CameraDriver::intrinsicsChecksum	(	uint16_t *	data,
		int	words
	)			[inline, private]

Definition at line 1112 of file wge100_camera_node.cpp.

bool WGE100CameraDriver::isColor

(

)

[inline, private]

Definition at line 1097 of file wge100_camera_node.cpp.

bool WGE100CameraDriver::loadIntrinsics

(

sensor_msgs::CameraInfo &

cam_info

)

[inline, private]

Definition at line 1120 of file wge100_camera_node.cpp.

bool WGE100CameraDriver::saveIntrinsics

(

const sensor_msgs::CameraInfo &

cam_info

)

[inline, private]

Definition at line 1153 of file wge100_camera_node.cpp.

int WGE100CameraDriver::setImagerSettings	(	MT9VImager &	imager,
		ImagerSettings &	cfg
	)			[inline, private]

Definition at line 369 of file wge100_camera_node.cpp.

int WGE100CameraDriver::setTestMode	(	uint16_t	mode,
		diagnostic_updater::DiagnosticStatusWrapper &	status
	)			[inline]

Definition at line 769 of file wge100_camera_node.cpp.

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Friends And Related Function Documentation

friend class WGE100CameraNode [friend]

Definition at line 290 of file wge100_camera_node.cpp.

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Member Data Documentation

MT9VImagerPtr WGE100CameraDriver::alternate_imager_ [private]

Definition at line 329 of file wge100_camera_node.cpp.

IpCamList WGE100CameraDriver::camera_ [private]

Definition at line 327 of file wge100_camera_node.cpp.

Config WGE100CameraDriver::config_

Definition at line 294 of file wge100_camera_node.cpp.

double WGE100CameraDriver::desired_freq_ [private]

Definition at line 301 of file wge100_camera_node.cpp.

double WGE100CameraDriver::driver_start_time_ [private]

Definition at line 312 of file wge100_camera_node.cpp.

bool WGE100CameraDriver::dropped_packet_event_ [private]

Definition at line 308 of file wge100_camera_node.cpp.

int WGE100CameraDriver::dropped_packets_ [private]

Definition at line 306 of file wge100_camera_node.cpp.

bool WGE100CameraDriver::enable_alternate_ [private]

Definition at line 334 of file wge100_camera_node.cpp.

bool WGE100CameraDriver::enable_primary_ [private]

Definition at line 335 of file wge100_camera_node.cpp.

bool WGE100CameraDriver::first_frame_ [private]

Definition at line 333 of file wge100_camera_node.cpp.

FrameTimeFilter WGE100CameraDriver::frame_time_filter_ [private]

Definition at line 318 of file wge100_camera_node.cpp.

std::string WGE100CameraDriver::hwinfo_ [private]

Definition at line 326 of file wge100_camera_node.cpp.

std::string WGE100CameraDriver::image_encoding_ [private]

Definition at line 331 of file wge100_camera_node.cpp.

boost::shared_ptr<boost::thread> WGE100CameraDriver::image_thread_ [private]

Definition at line 338 of file wge100_camera_node.cpp.

MT9VImagerPtr WGE100CameraDriver::imager_ [private]

Definition at line 328 of file wge100_camera_node.cpp.

double WGE100CameraDriver::last_camera_ok_time_ [private]

Definition at line 330 of file wge100_camera_node.cpp.

unsigned int WGE100CameraDriver::last_frame_number_ [private]

Definition at line 313 of file wge100_camera_node.cpp.

double WGE100CameraDriver::last_image_time_ [private]

Definition at line 311 of file wge100_camera_node.cpp.

unsigned int WGE100CameraDriver::last_partial_frame_number_ [private]

Definition at line 314 of file wge100_camera_node.cpp.

in_addr WGE100CameraDriver::localIp_ [private]

Definition at line 323 of file wge100_camera_node.cpp.

sockaddr WGE100CameraDriver::localMac_ [private]

Definition at line 322 of file wge100_camera_node.cpp.

int WGE100CameraDriver::lost_image_thread_count_ [private]

Definition at line 315 of file wge100_camera_node.cpp.

int WGE100CameraDriver::massive_frame_losses_ [private]

Definition at line 307 of file wge100_camera_node.cpp.

int WGE100CameraDriver::missed_eof_count_ [private]

Definition at line 305 of file wge100_camera_node.cpp.

int WGE100CameraDriver::missed_line_count_ [private]

Definition at line 309 of file wge100_camera_node.cpp.

bool WGE100CameraDriver::next_is_alternate_ [private]

Definition at line 332 of file wge100_camera_node.cpp.

SlowTriggerFilter WGE100CameraDriver::no_timestamp_warning_filter_ [private]

Definition at line 966 of file wge100_camera_node.cpp.

int WGE100CameraDriver::rmem_max_ [private]

Definition at line 304 of file wge100_camera_node.cpp.

ros::ServiceClient WGE100CameraDriver::trig_service_ [private]

Definition at line 298 of file wge100_camera_node.cpp.

timestamp_tools::TriggerMatcher WGE100CameraDriver::trigger_matcher_ [private]

Definition at line 319 of file wge100_camera_node.cpp.

int WGE100CameraDriver::trigger_matcher_drop_count_ [private]

Definition at line 310 of file wge100_camera_node.cpp.

UseFrameFunction WGE100CameraDriver::useFrame_ [private]

Definition at line 342 of file wge100_camera_node.cpp.

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The documentation for this class was generated from the following file:

• wge100_camera_node.cpp