IRI ROS Specific Driver Class. More...

#include <firewire_camera_driver.h>

Inheritance diagram for FirewireCameraDriver:

Public Types
typedef iri_firewire_camera::FirewireCameraConfig	Config
	define config type
Public Member Functions
bool	closeDriver (void)
	close driver
void	config_update (Config &new_cfg, uint32_t level=0)
	config update
	FirewireCameraDriver ()
	constructor
std::string	get_calibration_file (void)
void	get_current_config (TCameraConfig *current_conf)
void	get_default_config (TCameraConfig *default_conf)
void	get_desired_config (TCameraConfig *desired_conf)
std::string	get_frame_id (void)
void	get_image (char **image_data)
std::string	get_new_frame_event (void)
bool	openDriver (void)
	open driver
void	set_config (TCameraConfig *new_conf)
void	set_ISO_speed (int iso_speed)
bool	startDriver (void)
	start driver
bool	stopDriver (void)
	stop driver
	~FirewireCameraDriver ()
	Destructor.
Public Attributes
Config	config_
	config variable
Protected Member Functions
void	camera_to_dyn_rec (TCameraConfig &camera_config, iri_firewire_camera::FirewireCameraConfig &dyn_rec_config)
void	change_config (TCameraConfig *new_conf)
void	dyn_rec_to_camera (iri_firewire_camera::FirewireCameraConfig &dyn_rec_config, TCameraConfig &camera_config)
void	set_gain (bool enable, int mode, int *value)
void	set_shutter (bool enable, int mode, int *value)
void	set_white_balance (bool enable, int mode, int u_b_value, int v_r_value)
Private Attributes
std::string	calibration_file
CFirewireCamera *	camera
long int	camera_id
TCameraConfig	current_conf
TCameraConfig	default_conf
TCameraConfig	desired_conf
std::string	frame_id
int	ISO_speed
CFirewireServer *	server

Detailed Description

IRI ROS Specific Driver Class.

This class inherits from the IRI Base class IriBaseDriver, which provides the guidelines to implement any specific driver. The IriBaseDriver class offers an easy framework to integrate functional drivers implemented in C++ with the ROS driver structure. ROS driver_base state transitions are already managed by IriBaseDriver.

The FirewireCameraDriver class must implement all specific driver requirements to safetely open, close, run and stop the driver at any time. It also must guarantee an accessible interface for all driver's parameters.

The FirewireCameraConfig.cfg needs to be filled up with those parameters suitable to be changed dynamically by the ROS dyanmic reconfigure application. The implementation of the CIriNode class will manage those parameters through methods like postNodeOpenHook() and reconfigureNodeHook().

Definition at line 55 of file firewire_camera_driver.h.

Member Typedef Documentation

typedef iri_firewire_camera::FirewireCameraConfig FirewireCameraDriver::Config

define config type

Define a Config type with the FirewireCameraConfig. All driver implementations will then use the same variable type Config.

Definition at line 111 of file firewire_camera_driver.h.

Constructor & Destructor Documentation

FirewireCameraDriver::FirewireCameraDriver ( )

constructor

In this constructor parameters related to the specific driver can be initalized. Those parameters can be also set in the openDriver() function. Attributes from the main node driver class IriBaseDriver such as loop_rate, may be also overload here.

Definition at line 3 of file firewire_camera_driver.cpp.

FirewireCameraDriver::~FirewireCameraDriver ( )

Destructor.

This destructor is called when the object is about to be destroyed.

Definition at line 573 of file firewire_camera_driver.cpp.

Member Function Documentation

void FirewireCameraDriver::camera_to_dyn_rec	(	TCameraConfig &	camera_config,
		iri_firewire_camera::FirewireCameraConfig &	dyn_rec_config
	)		`[protected]`

Definition at line 228 of file firewire_camera_driver.cpp.

void FirewireCameraDriver::change_config ( TCameraConfig * new_conf ) [protected]

Definition at line 255 of file firewire_camera_driver.cpp.

bool FirewireCameraDriver::closeDriver ( void ) [virtual]

close driver

In this function, the driver must be closed. Variables related to the driver state must also be taken into account. This function is automatically called by IriBaseDriver::doClose(), an state transition is performed if return value equals true.

Returns:: bool successful

Implements iri_base_driver::IriBaseDriver.

Definition at line 72 of file firewire_camera_driver.cpp.

void FirewireCameraDriver::config_update	(	Config &	new_cfg,
		uint32_t	level = `0`
	)

config update

In this function the driver parameters must be updated with the input config variable. Then the new configuration state will be stored in the Config attribute.

Parameters:

new_cfg	the new driver configuration state
level	level in which the update is taken place

Definition at line 123 of file firewire_camera_driver.cpp.

void FirewireCameraDriver::dyn_rec_to_camera	(	iri_firewire_camera::FirewireCameraConfig &	dyn_rec_config,
		TCameraConfig &	camera_config
	)		`[protected]`

Definition at line 189 of file firewire_camera_driver.cpp.

std::string FirewireCameraDriver::get_calibration_file ( void )

Definition at line 563 of file firewire_camera_driver.cpp.

void FirewireCameraDriver::get_current_config ( TCameraConfig * current_conf )

Definition at line 520 of file firewire_camera_driver.cpp.

void FirewireCameraDriver::get_default_config ( TCameraConfig * default_conf )

Definition at line 542 of file firewire_camera_driver.cpp.

void FirewireCameraDriver::get_desired_config ( TCameraConfig * desired_conf )

Definition at line 531 of file firewire_camera_driver.cpp.

std::string FirewireCameraDriver::get_frame_id ( void )

Definition at line 568 of file firewire_camera_driver.cpp.

void FirewireCameraDriver::get_image ( char ** image_data )

Definition at line 495 of file firewire_camera_driver.cpp.

std::string FirewireCameraDriver::get_new_frame_event ( void )

Definition at line 553 of file firewire_camera_driver.cpp.

bool FirewireCameraDriver::openDriver ( void ) [virtual]

open driver

In this function, the driver must be openned. Openning errors must be taken into account. This function is automatically called by IriBaseDriver::doOpen(), an state transition is performed if return value equals true.

Returns:: bool successful

Implements iri_base_driver::IriBaseDriver.

Definition at line 41 of file firewire_camera_driver.cpp.

void FirewireCameraDriver::set_config ( TCameraConfig * new_conf )

Definition at line 508 of file firewire_camera_driver.cpp.

void FirewireCameraDriver::set_gain	(	bool *	enable,
		int *	mode,
		int *	value
	)		`[protected]`

Definition at line 430 of file firewire_camera_driver.cpp.

void FirewireCameraDriver::set_ISO_speed ( int iso_speed )

Definition at line 503 of file firewire_camera_driver.cpp.

void FirewireCameraDriver::set_shutter	(	bool *	enable,
		int *	mode,
		int *	value
	)		`[protected]`

Definition at line 365 of file firewire_camera_driver.cpp.

void FirewireCameraDriver::set_white_balance	(	bool *	enable,
		int *	mode,
		int *	u_b_value,
		int *	v_r_value
	)		`[protected]`

Definition at line 300 of file firewire_camera_driver.cpp.

bool FirewireCameraDriver::startDriver ( void ) [virtual]

start driver

After this function, the driver and its thread will be started. The driver and related variables should be properly setup. This function is automatically called by IriBaseDriver::doStart(), an state transition is performed if return value equals true.

Returns:: bool successful

Implements iri_base_driver::IriBaseDriver.

Definition at line 83 of file firewire_camera_driver.cpp.

bool FirewireCameraDriver::stopDriver ( void ) [virtual]

stop driver

After this function, the driver's thread will stop its execution. The driver and related variables should be properly setup. This function is automatically called by IriBaseDriver::doStop(), an state transition is performed if return value equals true.