prosilica_camera: prosilica_node.cpp Source File

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00034 
00035 // ROS communication
00036 #include <ros/ros.h>
00037 #include <sensor_msgs/Image.h>
00038 #include <sensor_msgs/CameraInfo.h>
00039 #include <sensor_msgs/fill_image.h>
00040 #include <sensor_msgs/SetCameraInfo.h>
00041 #include <std_msgs/Header.h>
00042 #include <image_transport/image_transport.h>
00043 #include <camera_calibration_parsers/parse_ini.h>
00044 #include <polled_camera/publication_server.h>
00045 
00046 // Diagnostics
00047 #include <diagnostic_updater/diagnostic_updater.h>
00048 #include <diagnostic_updater/DiagnosticStatusWrapper.h>
00049 #include <self_test/self_test.h>
00050 
00051 // Dynamic reconfigure
00052 #include <dynamic_reconfigure/server.h>
00053 #include <driver_base/SensorLevels.h>
00054 #include "prosilica_camera/ProsilicaCameraConfig.h"
00055 
00056 // Standard libs
00057 #include <boost/scoped_ptr.hpp>
00058 #include <boost/bind.hpp>
00059 #include <boost/lexical_cast.hpp>
00060 #include <boost/format.hpp>
00061 #include <sstream>
00062 
00063 #include "prosilica/prosilica.h"
00064 #include "prosilica/rolling_sum.h"
00065 
00067 class ProsilicaNode
00068 {
00069 private:
00070   ros::NodeHandle nh_;
00071   image_transport::ImageTransport it_;
00072   image_transport::CameraPublisher streaming_pub_;
00073   polled_camera::PublicationServer poll_srv_;
00074   ros::ServiceServer set_camera_info_srv_;
00075   ros::Subscriber trigger_sub_;
00076   
00077   // Camera
00078   boost::scoped_ptr<prosilica::Camera> cam_;
00079   prosilica::FrameStartTriggerMode trigger_mode_; 
00080   bool running_;
00081   unsigned long max_data_rate_;
00082   tPvUint32 sensor_width_, sensor_height_; // full resolution dimensions (maybe should be in lib)
00083   tPvUint32 max_binning_x_, max_binning_y_;
00084 
00085   // Hardware triggering
00086   std::string trig_timestamp_topic_;
00087   ros::Time trig_time_;
00088 
00089   // ROS messages
00090   sensor_msgs::Image img_;
00091   sensor_msgs::CameraInfo cam_info_;
00092 
00093   // Dynamic reconfigure
00094   typedef prosilica_camera::ProsilicaCameraConfig Config;
00095   typedef dynamic_reconfigure::Server<Config> ReconfigureServer;
00096   ReconfigureServer reconfigure_server_;
00097   
00098   // Diagnostics
00099   ros::Timer diagnostic_timer_;
00100   boost::shared_ptr<self_test::TestRunner> self_test_;
00101   diagnostic_updater::Updater diagnostic_;
00102   std::string hw_id_;
00103   int count_;
00104   double desired_freq_;
00105   static const int WINDOW_SIZE = 5; // remember previous 5s
00106   unsigned long frames_dropped_total_, frames_completed_total_;
00107   RollingSum<unsigned long> frames_dropped_acc_, frames_completed_acc_;
00108   unsigned long packets_missed_total_, packets_received_total_;
00109   RollingSum<unsigned long> packets_missed_acc_, packets_received_acc_;
00110 
00111   // So we don't get burned by auto-exposure
00112   unsigned long last_exposure_value_;
00113   int consecutive_stable_exposures_;
00114 
00115 public:
00116   ProsilicaNode(const ros::NodeHandle& node_handle)
00117     : nh_(node_handle),
00118       it_(nh_),
00119       cam_(NULL), running_(false),
00120       count_(0),
00121       frames_dropped_total_(0), frames_completed_total_(0),
00122       frames_dropped_acc_(WINDOW_SIZE),
00123       frames_completed_acc_(WINDOW_SIZE),
00124       packets_missed_total_(0), packets_received_total_(0),
00125       packets_missed_acc_(WINDOW_SIZE),
00126       packets_received_acc_(WINDOW_SIZE)
00127   {
00128     // Two-stage initialization: in the constructor we open the requested camera. Most
00129     // parameters controlling capture are set and streaming started in configure(), the
00130     // callback to dynamic_reconfig.
00131     prosilica::init();
00132 
00133     if (prosilica::numCameras() == 0)
00134       ROS_WARN("Found no cameras on local subnet");
00135 
00136     // Determine which camera to use. Opening by IP address is preferred, then guid. If both
00137     // parameters are set we open by IP and verify the guid. If neither are set we default
00138     // to opening the first available camera.
00139     ros::NodeHandle local_nh("~");
00140     unsigned long guid = 0;
00141     std::string guid_str;
00142     if (local_nh.getParam("guid", guid_str))
00143       guid = strtol(guid_str.c_str(), NULL, 0);
00144 
00145     std::string ip_str;
00146     if (local_nh.getParam("ip_address", ip_str)) {
00147       cam_.reset( new prosilica::Camera(ip_str.c_str()) );
00148       
00149       // Verify guid is the one expected
00150       unsigned long cam_guid = cam_->guid();
00151       if (guid != 0 && guid != cam_guid)
00152         throw prosilica::ProsilicaException(ePvErrBadParameter,
00153                                             "guid does not match expected");
00154       guid = cam_guid;
00155     }
00156     else {
00157       if (guid == 0) guid = prosilica::getGuid(0);
00158       cam_.reset( new prosilica::Camera(guid) );
00159     }
00160     hw_id_ = boost::lexical_cast<std::string>(guid);
00161     ROS_INFO("Found camera, guid = %s", hw_id_.c_str());
00162     diagnostic_.setHardwareID(hw_id_);
00163 
00164     // Record some attributes of the camera
00165     tPvUint32 dummy;
00166     PvAttrRangeUint32(cam_->handle(), "Width", &dummy, &sensor_width_);
00167     PvAttrRangeUint32(cam_->handle(), "Height", &dummy, &sensor_height_);
00168     PvAttrRangeUint32(cam_->handle(), "BinningX", &dummy, &max_binning_x_);
00169     PvAttrRangeUint32(cam_->handle(), "BinningY", &dummy, &max_binning_y_);
00170     
00171     // Try to load intrinsics from on-camera memory.
00172     loadIntrinsics();
00173 
00174     // Set up self tests and diagnostics.
00175     // NB: Need to wait until here to construct self_test_, otherwise an exception
00176     // above from failing to find the camera gives bizarre backtraces
00177     // (http://answers.ros.org/question/430/trouble-with-prosilica_camera-pvapi).
00178     self_test_.reset(new self_test::TestRunner);
00179     self_test_->add( "Info Test", this, &ProsilicaNode::infoTest );
00180     self_test_->add( "Attribute Test", this, &ProsilicaNode::attributeTest );
00181     self_test_->add( "Image Test", this, &ProsilicaNode::imageTest );
00182     
00183     diagnostic_.add( "Frequency Status", this, &ProsilicaNode::freqStatus );
00184     diagnostic_.add( "Frame Statistics", this, &ProsilicaNode::frameStatistics );
00185     diagnostic_.add( "Packet Statistics", this, &ProsilicaNode::packetStatistics );
00186     diagnostic_.add( "Packet Error Status", this, &ProsilicaNode::packetErrorStatus );
00187 
00188     diagnostic_timer_ = nh_.createTimer(ros::Duration(0.1), boost::bind(&ProsilicaNode::runDiagnostics, this));
00189 
00190     // Service call for setting calibration.
00191     set_camera_info_srv_ = nh_.advertiseService("set_camera_info", &ProsilicaNode::setCameraInfo, this);
00192 
00193     // Start dynamic_reconfigure
00194     reconfigure_server_.setCallback(boost::bind(&ProsilicaNode::configure, this, _1, _2));
00195   }
00196 
00197   void configure(Config& config, uint32_t level)
00198   {
00199     ROS_DEBUG("Reconfigure request received");
00200 
00201     if (level >= (uint32_t)driver_base::SensorLevels::RECONFIGURE_STOP)
00202       stop();
00203 
00204     // Trigger mode
00205     if (config.trigger_mode == "streaming") {
00206       trigger_mode_ = prosilica::Freerun;
00208       desired_freq_ = 1; // make sure we get _something_
00209     }
00210     else if (config.trigger_mode == "syncin1") {
00211       trigger_mode_ = prosilica::SyncIn1;
00212       desired_freq_ = config.trig_rate;
00213     }
00214     else if (config.trigger_mode == "syncin2") {
00215       trigger_mode_ = prosilica::SyncIn2;
00216       desired_freq_ = config.trig_rate;
00217     }
00218 #if 0
00219     else if (config.trigger_mode == "fixedrate") {
00220       ROS_DEBUG("Fixed rate not supported yet implementing software");
00221       trigger_mode_ = prosilica::Software;
00223       desired_freq_ = 0;
00224     }
00225 #endif
00226     else if (config.trigger_mode == "polled") {
00227       trigger_mode_ = prosilica::Software;
00228       desired_freq_ = 0;
00229     }
00230     else {
00231       ROS_ERROR("Invalid trigger mode '%s' in reconfigure request", config.trigger_mode.c_str());
00232     }
00233     trig_timestamp_topic_ = config.trig_timestamp_topic;
00234 
00235     // Exposure
00236     if (config.auto_exposure)
00237       cam_->setExposure(0, prosilica::Auto);
00238     else {
00239       unsigned us = config.exposure*1000000. + 0.5;
00240       cam_->setExposure(us, prosilica::Manual);
00241     }
00242 
00243     // Gain
00244     if (config.auto_gain) {
00245       if (PvAttrIsAvailable(cam_->handle(), "GainMode") == ePvErrSuccess)
00246         cam_->setGain(0, prosilica::Auto);
00247       else {
00248         tPvUint32 major, minor;
00249         cam_->getAttribute("FirmwareVerMajor", major);
00250         cam_->getAttribute("FirmwareVerMinor", minor);
00251         ROS_WARN("Auto gain not available for this camera. Auto gain is available "
00252                  "on firmware versions 1.36 and above. You are running version %u.%u.",
00253                  (unsigned)major, (unsigned)minor);
00254         config.auto_gain = false;
00255       }
00256     }
00257     else
00258       cam_->setGain(config.gain, prosilica::Manual);
00259     
00260     // White balance
00261     if (config.auto_whitebalance) {
00262       if (PvAttrIsAvailable(cam_->handle(), "WhitebalMode") == ePvErrSuccess)
00263         cam_->setWhiteBalance(0, 0, prosilica::Auto);
00264       else {
00265         ROS_WARN("Auto white balance not available for this camera.");
00266         config.auto_whitebalance = false;
00267       }
00268     }
00269     else
00270       cam_->setWhiteBalance(config.whitebalance_blue, config.whitebalance_red, prosilica::Manual);
00271 
00272     // Binning configuration
00273     config.binning_x = std::min(config.binning_x, (int)max_binning_x_);
00274     config.binning_y = std::min(config.binning_y, (int)max_binning_y_);
00275     int binning_x = config.binning_x, binning_y = config.binning_y;
00276     cam_->setBinning(binning_x, binning_y);
00277 
00278     // Region of interest configuration
00279     // Make sure ROI fits in image
00280     config.x_offset = std::min(config.x_offset, (int)sensor_width_ - 1);
00281     config.y_offset = std::min(config.y_offset, (int)sensor_height_ - 1);
00282     config.width  = std::min(config.width, (int)sensor_width_ - config.x_offset);
00283     config.height = std::min(config.height, (int)sensor_height_ - config.y_offset);
00284     // If width or height is 0, set it as large as possible
00285     int width  = config.width  ? config.width  : sensor_width_  - config.x_offset;
00286     int height = config.height ? config.height : sensor_height_ - config.y_offset;
00287 
00288     // Adjust full-res ROI to binning ROI
00290     int x_offset = config.x_offset / binning_x;
00291     int y_offset = config.y_offset / binning_y;
00292     unsigned int right_x  = (config.x_offset + width  + binning_x - 1) / binning_x;
00293     unsigned int bottom_y = (config.y_offset + height + binning_y - 1) / binning_y;
00294     // Rounding up is bad when at max resolution which is not divisible by the amount of binning
00295     right_x = std::min(right_x, (unsigned)(sensor_width_ / binning_x));
00296     bottom_y = std::min(bottom_y, (unsigned)(sensor_height_ / binning_y));
00297     width = right_x - x_offset;
00298     height = bottom_y - y_offset;
00299 
00300     cam_->setRoi(x_offset, y_offset, width, height);
00301     
00302     // TF frame
00303     img_.header.frame_id = cam_info_.header.frame_id = config.frame_id;
00304 
00306     if (level >= (uint32_t)driver_base::SensorLevels::RECONFIGURE_STOP)
00307       start();
00308   }
00309 
00310   ~ProsilicaNode()
00311   {
00312     stop();
00313     cam_.reset(); // must destroy Camera before calling prosilica::fini
00314     prosilica::fini();
00315   }
00316 
00317   void syncInCallback (const std_msgs::HeaderConstPtr& msg)
00318   {
00320     trig_time_ = msg->stamp;
00321   }
00322   
00324 
00325   void start()
00326   {
00327     if (running_) return;
00328 
00329     if (trigger_mode_ == prosilica::Software) {
00330       poll_srv_ = polled_camera::advertise(nh_, "request_image", &ProsilicaNode::pollCallback, this);
00331       // Auto-exposure tends to go wild the first few frames after startup
00332       // if (auto_expose) normalizeExposure();
00333     }
00334     else {
00335       if ((trigger_mode_ == prosilica::SyncIn1) || (trigger_mode_ == prosilica::SyncIn2)) {
00336         if (!trig_timestamp_topic_.empty())
00337           trigger_sub_ = nh_.subscribe(trig_timestamp_topic_, 1, &ProsilicaNode::syncInCallback, this);
00338       }
00339       else {
00340         assert(trigger_mode_ == prosilica::Freerun);
00341         cam_->setFrameCallback(boost::bind(&ProsilicaNode::publishImage, this, _1));
00342       }
00343       streaming_pub_ = it_.advertiseCamera("image_raw", 1);
00344     }
00345     cam_->start(trigger_mode_, prosilica::Continuous);
00346     running_ = true;
00347   }
00348 
00349   void stop()
00350   {
00351     if (!running_) return;
00352 
00353     cam_->stop(); // Must stop camera before streaming_pub_.
00354     poll_srv_.shutdown();
00355     trigger_sub_.shutdown();
00356     streaming_pub_.shutdown();
00357     
00358     running_ = false;
00359   }
00360 
00361   void pollCallback(polled_camera::GetPolledImage::Request& req,
00362                     polled_camera::GetPolledImage::Response& rsp,
00363                     sensor_msgs::Image& image, sensor_msgs::CameraInfo& info)
00364   {
00365     if (trigger_mode_ != prosilica::Software) {
00366       rsp.success = false;
00367       rsp.status_message = "Camera is not in software triggered mode";
00368       return;
00369     }
00370 
00371     tPvFrame* frame = NULL;
00372 
00373     try {
00374       cam_->setBinning(req.binning_x, req.binning_y);
00375 
00376       if (req.roi.x_offset || req.roi.y_offset || req.roi.width || req.roi.height) {
00377         // GigE cameras use ROI in binned coordinates, so scale the values down.
00378         // The ROI is expanded if necessary to land on binned coordinates.
00379         unsigned int left_x = req.roi.x_offset / req.binning_x;
00380         unsigned int top_y  = req.roi.y_offset / req.binning_y;
00381         unsigned int right_x  = (req.roi.x_offset + req.roi.width  + req.binning_x - 1) / req.binning_x;
00382         unsigned int bottom_y = (req.roi.y_offset + req.roi.height + req.binning_y - 1) / req.binning_y;
00383         unsigned int width = right_x - left_x;
00384         unsigned int height = bottom_y - top_y;
00385         cam_->setRoi(left_x, top_y, width, height);
00386       } else {
00387         cam_->setRoiToWholeFrame();
00388       }
00389 
00390       // Zero duration means "no timeout"
00391       unsigned long timeout = req.timeout.isZero() ? PVINFINITE : req.timeout.toNSec() / 1e6;
00392       frame = cam_->grab(timeout);
00393     }
00394     catch (prosilica::ProsilicaException &e) {
00395       if (e.error_code == ePvErrBadSequence)
00396         throw; // not easily recoverable
00397 
00398       rsp.success = false;
00399       rsp.status_message = (boost::format("Prosilica exception: %s") % e.what()).str();
00400       return;
00401     }
00402 
00403     if (!frame) {
00405       rsp.success = false;
00406       rsp.status_message = "Failed to capture frame, may have timed out";
00407       return;
00408     }
00409 
00410     info = cam_info_;
00411     image.header.frame_id = img_.header.frame_id;
00412     if (!processFrame(frame, image, info)) {
00413       rsp.success = false;
00414       rsp.status_message = "Captured frame but failed to process it";
00415       return;
00416     }
00417     info.roi.do_rectify = req.roi.do_rectify; // do_rectify should be preserved from request
00418 
00419     rsp.success = true;
00420   }
00421 
00422   static bool frameToImage(tPvFrame* frame, sensor_msgs::Image &image)
00423   {
00424     // NOTE: 16-bit and Yuv formats not supported
00425     static const char* BAYER_ENCODINGS[] = { "bayer_rggb8", "bayer_gbrg8", "bayer_grbg8", "bayer_bggr8" };
00426 
00427     std::string encoding;
00428     if (frame->Format == ePvFmtMono8)       encoding = sensor_msgs::image_encodings::MONO8;
00429     else if (frame->Format == ePvFmtBayer8) 
00430     {
00431 #if 1
00432       encoding = BAYER_ENCODINGS[frame->BayerPattern];
00433 #else
00434       image.encoding = sensor_msgs::image_encodings::BGR8;
00435       image.height = frame->Height;
00436       image.width = frame->Width;
00437       image.step = frame->Width * 3;
00438       image.data.resize(frame->Height * (frame->Width * 3));
00439       PvUtilityColorInterpolate(frame, &image.data[2], &image.data[1], &image.data[0], 2, 0);
00440       return true;
00441 #endif
00442     }
00443     else if (frame->Format == ePvFmtRgb24)  encoding = sensor_msgs::image_encodings::RGB8;
00444     else if (frame->Format == ePvFmtBgr24)  encoding = sensor_msgs::image_encodings::BGR8;
00445     else if (frame->Format == ePvFmtRgba32) encoding = sensor_msgs::image_encodings::RGBA8;
00446     else if (frame->Format == ePvFmtBgra32) encoding = sensor_msgs::image_encodings::BGRA8;
00447     else {
00448       ROS_WARN("Received frame with unsupported pixel format %d", frame->Format);
00449       return false;
00450     }
00451 
00452     uint32_t step = frame->ImageSize / frame->Height;
00453     return sensor_msgs::fillImage(image, encoding, frame->Height, frame->Width, step, frame->ImageBuffer);
00454   }
00455   
00456   bool processFrame(tPvFrame* frame, sensor_msgs::Image &img, sensor_msgs::CameraInfo &cam_info)
00457   {
00459     if ((trigger_mode_ == prosilica::SyncIn1 || trigger_mode_ == prosilica::SyncIn2) && !trig_time_.isZero()) {
00460       img.header.stamp = cam_info.header.stamp = trig_time_;
00461       trig_time_ = ros::Time(); // Zero
00462     }
00463     else {
00465       img.header.stamp = cam_info.header.stamp = ros::Time::now();
00466     }
00467     
00471     tPvUint32 binning_x, binning_y;
00472     cam_->getAttribute("BinningX", binning_x);
00473     cam_->getAttribute("BinningY", binning_y);
00474     // Binning averages bayer samples, so just call it mono8 in that case
00475     if (frame->Format == ePvFmtBayer8 && (binning_x > 1 || binning_y > 1))
00476       frame->Format = ePvFmtMono8;
00477 
00478     if (!frameToImage(frame, img))
00479       return false;
00480 
00481     // Set the operational parameters in CameraInfo (binning, ROI)
00482     cam_info.binning_x = binning_x;
00483     cam_info.binning_y = binning_y;
00484     // ROI in CameraInfo is in unbinned coordinates, need to scale up
00485     cam_info.roi.x_offset = frame->RegionX * binning_x;
00486     cam_info.roi.y_offset = frame->RegionY * binning_y;
00487     cam_info.roi.height = frame->Height * binning_y;
00488     cam_info.roi.width = frame->Width * binning_x;
00489     cam_info.roi.do_rectify = (frame->Height != sensor_height_ / binning_y) ||
00490                               (frame->Width  != sensor_width_  / binning_x);
00491 
00492     count_++;
00493     return true;
00494   }
00495   
00496   void publishImage(tPvFrame* frame)
00497   {
00498     if (processFrame(frame, img_, cam_info_))
00499       streaming_pub_.publish(img_, cam_info_);
00500   }
00501 
00502   void loadIntrinsics()
00503   {
00504     // Retrieve contents of user memory
00505     std::string buffer(prosilica::Camera::USER_MEMORY_SIZE, '\0');
00506     cam_->readUserMemory(&buffer[0], prosilica::Camera::USER_MEMORY_SIZE);
00507 
00508     // Parse calibration file
00509     std::string camera_name;
00510     if (camera_calibration_parsers::parseCalibrationIni(buffer, camera_name, cam_info_))
00511       ROS_INFO("Loaded calibration for camera '%s'", camera_name.c_str());
00512     else
00513       ROS_WARN("Failed to load intrinsics from camera");
00514   }
00515 
00516   bool setCameraInfo(sensor_msgs::SetCameraInfo::Request& req,
00517                      sensor_msgs::SetCameraInfo::Response& rsp)
00518   {
00519     ROS_INFO("New camera info received");
00520     sensor_msgs::CameraInfo &info = req.camera_info;
00521     
00522     // Sanity check: the image dimensions should match the max resolution of the sensor.
00523     tPvUint32 width, height, dummy;
00524     PvAttrRangeUint32(cam_->handle(), "Width", &dummy, &width);
00525     PvAttrRangeUint32(cam_->handle(), "Height", &dummy, &height);
00526     if (info.width != width || info.height != height) {
00527       rsp.success = false;
00528       rsp.status_message = (boost::format("Camera_info resolution %ix%i does not match current video "
00529                                           "setting, camera running at resolution %ix%i.")
00530                             % info.width % info.height % width % height).str();
00531       ROS_ERROR("%s", rsp.status_message.c_str());
00532       return true;
00533     }
00534     
00535     stop();
00536 
00537     std::string cam_name = "prosilica";
00538     cam_name += hw_id_;
00539     std::stringstream ini_stream;
00540     if (!camera_calibration_parsers::writeCalibrationIni(ini_stream, cam_name, info)) {
00541       rsp.status_message = "Error formatting camera_info for storage.";
00542       rsp.success = false;
00543     }
00544     else {
00545       std::string ini = ini_stream.str();
00546       if (ini.size() > prosilica::Camera::USER_MEMORY_SIZE) {
00547         rsp.success = false;
00548         rsp.status_message = "Unable to write camera_info to camera memory, exceeded storage capacity.";
00549       }
00550       else {
00551         try {
00552           cam_->writeUserMemory(ini.c_str(), ini.size());
00553           cam_info_ = info;
00554           rsp.success = true;
00555         }
00556         catch (prosilica::ProsilicaException &e) {
00557           rsp.success = false;
00558           rsp.status_message = e.what();
00559         }
00560       }
00561     }
00562     if (!rsp.success)
00563       ROS_ERROR("%s", rsp.status_message.c_str());
00564     
00565     start();
00566 
00567     return true;
00568   }
00569 
00570   void normalizeCallback(tPvFrame* frame)
00571   {
00572     unsigned long exposure;
00573     cam_->getAttribute("ExposureValue", exposure);
00574     //ROS_WARN("Exposure value = %u", exposure);
00575 
00576     if (exposure == last_exposure_value_)
00577       consecutive_stable_exposures_++;
00578     else {
00579       last_exposure_value_ = exposure;
00580       consecutive_stable_exposures_ = 0;
00581     }
00582   }
00583   
00584   void normalizeExposure()
00585   {
00586     ROS_INFO("Normalizing exposure");
00588 
00589     last_exposure_value_ = 0;
00590     consecutive_stable_exposures_ = 0;
00591     cam_->setFrameCallback(boost::bind(&ProsilicaNode::normalizeCallback, this, _1));
00592     cam_->start(prosilica::Freerun);
00593 
00595     while (consecutive_stable_exposures_ < 3)
00596       boost::this_thread::sleep(boost::posix_time::millisec(250));
00597 
00598     cam_->stop();
00599   }
00600 
00602   // Diagnostics //
00604   
00605   void runDiagnostics()
00606   {
00607     self_test_->checkTest();
00608     diagnostic_.update();
00609   }
00610   
00611   void freqStatus(diagnostic_updater::DiagnosticStatusWrapper& status)
00612   {
00613     double freq = (double)(count_)/diagnostic_.getPeriod();
00614 
00615     if (freq < (.9*desired_freq_))
00616     {
00617       status.summary(2, "Desired frequency not met");
00618     }
00619     else
00620     {
00621       status.summary(0, "Desired frequency met");
00622     }
00623 
00624     status.add("Images in interval", count_);
00625     status.add("Desired frequency", desired_freq_);
00626     status.add("Actual frequency", freq);
00627     
00628     count_ = 0;
00629   }
00630 
00631   void frameStatistics(diagnostic_updater::DiagnosticStatusWrapper& status)
00632   {
00633     // Get stats from camera driver
00634     float frame_rate;
00635     unsigned long completed, dropped;
00636     cam_->getAttribute("StatFrameRate", frame_rate);
00637     cam_->getAttribute("StatFramesCompleted", completed);
00638     cam_->getAttribute("StatFramesDropped", dropped);
00639 
00640     // Compute rolling totals, percentages
00641     frames_completed_acc_.add(completed - frames_completed_total_);
00642     frames_completed_total_ = completed;
00643     unsigned long completed_recent = frames_completed_acc_.sum();
00644     
00645     frames_dropped_acc_.add(dropped - frames_dropped_total_);
00646     frames_dropped_total_ = dropped;
00647     unsigned long dropped_recent = frames_dropped_acc_.sum();
00648 
00649     float recent_ratio = float(completed_recent) / (completed_recent + dropped_recent);
00650     float total_ratio = float(completed) / (completed + dropped);
00651 
00652     // Set level based on recent % completed frames
00653     if (dropped_recent == 0) {
00654       status.summary(0, "No dropped frames");
00655     }
00656     else if (recent_ratio > 0.8f) {
00657       status.summary(1, "Some dropped frames");
00658     }
00659     else {
00660       status.summary(2, "Excessive proportion of dropped frames");
00661     }
00662 
00663     status.add("Camera Frame Rate", frame_rate);
00664     status.add("Recent % Frames Completed", recent_ratio * 100.0f);
00665     status.add("Overall % Frames Completed", total_ratio * 100.0f);
00666     status.add("Frames Completed", completed);
00667     status.add("Frames Dropped", dropped);
00668   }
00669 
00670   void packetStatistics(diagnostic_updater::DiagnosticStatusWrapper& status)
00671   {
00672     // Get stats from camera driver
00673     unsigned long received, missed, requested, resent;
00674     cam_->getAttribute("StatPacketsReceived", received);
00675     cam_->getAttribute("StatPacketsMissed", missed);
00676     cam_->getAttribute("StatPacketsRequested", requested);
00677     cam_->getAttribute("StatPacketsResent", resent);
00678 
00679     // Compute rolling totals, percentages
00680     packets_received_acc_.add(received - packets_received_total_);
00681     packets_received_total_ = received;
00682     unsigned long received_recent = packets_received_acc_.sum();
00683     
00684     packets_missed_acc_.add(missed - packets_missed_total_);
00685     packets_missed_total_ = missed;
00686     unsigned long missed_recent = packets_missed_acc_.sum();
00687 
00688     float recent_ratio = float(received_recent) / (received_recent + missed_recent);
00689     float total_ratio = float(received) / (received + missed);
00690 
00691     if (missed_recent == 0) {
00692       status.summary(0, "No missed packets");
00693     }
00694     else if (recent_ratio > 0.99f) {
00695       status.summary(1, "Some missed packets");
00696     }
00697     else {
00698       status.summary(2, "Excessive proportion of missed packets");
00699     }
00700 
00701     // Adjust data rate
00702     unsigned long data_rate = 0;
00703     unsigned long max_data_rate = cam_->getMaxDataRate();
00704     if (max_data_rate < prosilica::Camera::GIGE_MAX_DATA_RATE)
00705       status.mergeSummary(1, "Max data rate is lower than expected for a GigE port");
00706     try {
00707       cam_->getAttribute("StreamBytesPerSecond", data_rate);
00708 
00710       float multiplier = 1.0f;
00711       if (recent_ratio == 1.0f) {
00712         multiplier = 1.1f;
00713       } else if (recent_ratio < 0.99f) {
00714         multiplier = 0.9f;
00715       }
00716       if (multiplier != 1.0f) {
00717         unsigned long new_data_rate = std::min((unsigned long)(multiplier * data_rate + 0.5), max_data_rate);
00718         new_data_rate = std::max(new_data_rate, max_data_rate/1000);
00719         if (data_rate != new_data_rate) {
00720           data_rate = new_data_rate;
00721           cam_->setAttribute("StreamBytesPerSecond", data_rate);
00722           ROS_DEBUG("Changed data rate to %lu bytes per second", data_rate);
00723         }
00724       }
00725     }
00726     catch (prosilica::ProsilicaException &e) {
00727       if (e.error_code == ePvErrUnplugged)
00728         throw;
00729       ROS_ERROR("Exception occurred: '%s'\n"
00730                 "Possible network issue. Attempting to reset data rate to the current maximum.",
00731                 e.what());
00732       data_rate = max_data_rate;
00733       cam_->setAttribute("StreamBytesPerSecond", data_rate);
00734     }
00735     
00736     status.add("Recent % Packets Received", recent_ratio * 100.0f);
00737     status.add("Overall % Packets Received", total_ratio * 100.0f);
00738     status.add("Received Packets", received);
00739     status.add("Missed Packets", missed);
00740     status.add("Requested Packets", requested);
00741     status.add("Resent Packets", resent);
00742     status.add("Data Rate (bytes/s)", data_rate);
00743     status.add("Max Data Rate (bytes/s)", max_data_rate);
00744   }
00745 
00746   void packetErrorStatus(diagnostic_updater::DiagnosticStatusWrapper& status)
00747   {
00748     unsigned long erroneous;
00749     cam_->getAttribute("StatPacketsErroneous", erroneous);
00750 
00751     if (erroneous == 0) {
00752       status.summary(0, "No erroneous packets");
00753     } else {
00754       status.summary(2, "Possible camera hardware failure");
00755     }
00756 
00757     status.add("Erroneous Packets", erroneous);
00758   }
00759 
00761   // Self tests //
00763 
00764   // Try to load camera name, etc. Should catch gross communication failure.
00765   void infoTest(diagnostic_updater::DiagnosticStatusWrapper& status)
00766   {
00767     status.name = "Info Test";
00768 
00769     self_test_->setID(hw_id_);
00770 
00771     std::string camera_name;
00772     try {
00773       cam_->getAttribute("CameraName", camera_name);
00774       status.summary(0, "Connected to Camera");
00775       status.add("Camera Name", camera_name);
00776     }
00777     catch (prosilica::ProsilicaException& e) {
00778       status.summary(2, e.what());
00779     }
00780   }
00781 
00782   // Test validity of all attribute values.
00783   void attributeTest(diagnostic_updater::DiagnosticStatusWrapper& status)
00784   {
00785     status.name = "Attribute Test";
00786 
00787     tPvAttrListPtr list_ptr;
00788     unsigned long list_length;
00789 
00790     if (PvAttrList(cam_->handle(), &list_ptr, &list_length) == ePvErrSuccess) {
00791       status.summary(0, "All attributes in valid range");
00792       for (unsigned int i = 0; i < list_length; ++i) {
00793         const char* attribute = list_ptr[i];
00794         tPvErr e = PvAttrIsValid(cam_->handle(), attribute);
00795         if (e != ePvErrSuccess) {
00796           status.summary(2, "One or more invalid attributes");
00797           if (e == ePvErrOutOfRange)
00798             status.add(attribute, "Out of range");
00799           else if (e == ePvErrNotFound)
00800             status.add(attribute, "Does not exist");
00801           else
00802             status.addf(attribute, "Unexpected error code %u", e);
00803         }
00804       }
00805     }
00806     else {
00807       status.summary(2, "Unable to retrieve attribute list");
00808     }
00809   }
00810 
00811   // Try to capture an image.
00812   void imageTest(diagnostic_updater::DiagnosticStatusWrapper& status)
00813   {
00814     status.name = "Image Capture Test";
00815 
00816     try {
00817       if (trigger_mode_ != prosilica::Software) {
00818         tPvUint32 start_completed, current_completed;
00819         cam_->getAttribute("StatFramesCompleted", start_completed);
00820         for (int i = 0; i < 6; ++i) {
00821           boost::this_thread::sleep(boost::posix_time::millisec(500));
00822           cam_->getAttribute("StatFramesCompleted", current_completed);
00823           if (current_completed > start_completed) {
00824             status.summary(0, "Captured a frame, see diagnostics for detailed stats");
00825             return;
00826           }
00827         }
00828 
00829         // Give up after 3s
00830         status.summary(2, "No frames captured over 3s in freerun mode");
00831         return;
00832       }
00833 
00834       // In software triggered mode, try to grab a frame
00835       cam_->setRoiToWholeFrame();
00836       tPvFrame* frame = cam_->grab(500);
00837       if (frame)
00838         {
00839           status.summary(0, "Successfully triggered a frame capture");
00840         }
00841       else
00842         {
00843           status.summary(2, "Attempted to grab a frame, but received NULL");
00844         }
00845         
00846     }
00847     catch (prosilica::ProsilicaException &e) {
00848       status.summary(2, e.what());
00849     }
00850   }
00851 };
00852 
00853 int main(int argc, char **argv)
00854 {
00855   ros::init(argc, argv, "prosilica_driver");
00856 
00857   ros::NodeHandle nh("camera");
00858   ProsilicaNode pn(nh);
00859   ros::spin();
00860 
00861   return 0;
00862 }