IRI ROS Specific Driver Class. More...
#include <ueye_camera_driver.h>
Public Types | |
typedef iri_ueye_camera::UeyeCameraConfig | Config |
define config type | |
Public Member Functions | |
bool | closeDriver (void) |
close driver | |
void | config_update (Config &new_cfg, uint32_t level=0) |
config update | |
bool | get_image (void) |
get image | |
bool | openDriver (void) |
open driver | |
bool | startDriver (void) |
start driver | |
bool | stopDriver (void) |
stop driver | |
UeyeCameraDriver (void) | |
constructor | |
~UeyeCameraDriver (void) | |
Destructor. | |
Public Attributes | |
int | cameraid_ |
Camera ID. | |
Config | config_ |
config variable | |
XmlRpc::XmlRpcValue | double_list_ |
List of calibration parameters. | |
double | exposure_ |
Exposure time. | |
string | file_str_ |
Path to the parameters file. | |
int | fps_ |
Frame rate. | |
string | frame_id_ |
Topic message frame_id (header) | |
int | img_data_size_ |
Image data size. | |
int | img_height_ |
Image height. | |
int | img_left_ |
Left space to the image center. | |
int | img_top_ |
Top space to the image center. | |
int | img_width_ |
Image width. | |
bool | mirror_leftright_ |
Mirror LeftRigth. | |
bool | mirror_updown_ |
Mirror UpDown. | |
int | param_mode_ |
Camera load parameters mode. | |
int | pixel_clock_ |
Pixel clock frequency. | |
CUeye_Camera | ueye_cam_ |
Object of the main ueye driver library class. |
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 UeyeCameraDriver 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 UeyeCameraConfig.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 54 of file ueye_camera_driver.h.
typedef iri_ueye_camera::UeyeCameraConfig UeyeCameraDriver::Config |
define config type
Define a Config type with the UeyeCameraConfig. All driver implementations will then use the same variable type Config.
Definition at line 85 of file ueye_camera_driver.h.
UeyeCameraDriver::UeyeCameraDriver | ( | void | ) |
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 5 of file ueye_camera_driver.cpp.
UeyeCameraDriver::~UeyeCameraDriver | ( | void | ) |
Destructor.
This destructor is called when the object is about to be destroyed.
Definition at line 120 of file ueye_camera_driver.cpp.
bool UeyeCameraDriver::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.
Implements iri_base_driver::IriBaseDriver.
Definition at line 26 of file ueye_camera_driver.cpp.
void UeyeCameraDriver::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.
new_cfg | the new driver configuration state |
level | level in which the update is taken place |
Definition at line 71 of file ueye_camera_driver.cpp.
bool UeyeCameraDriver::get_image | ( | void | ) |
get image
This function gets the image from the driver.
Definition at line 96 of file ueye_camera_driver.cpp.
bool UeyeCameraDriver::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.
Implements iri_base_driver::IriBaseDriver.
Definition at line 10 of file ueye_camera_driver.cpp.
bool UeyeCameraDriver::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.
Implements iri_base_driver::IriBaseDriver.
Definition at line 34 of file ueye_camera_driver.cpp.
bool UeyeCameraDriver::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.
Implements iri_base_driver::IriBaseDriver.
Definition at line 66 of file ueye_camera_driver.cpp.
Camera ID.
Definition at line 63 of file ueye_camera_driver.h.
config variable
This variable has all the driver parameters defined in the cfg config file. Is updated everytime function config_update() is called.
Definition at line 93 of file ueye_camera_driver.h.
List of calibration parameters.
Definition at line 77 of file ueye_camera_driver.h.
double UeyeCameraDriver::exposure_ |
Exposure time.
Definition at line 72 of file ueye_camera_driver.h.
string UeyeCameraDriver::file_str_ |
Path to the parameters file.
Definition at line 70 of file ueye_camera_driver.h.
Frame rate.
Definition at line 68 of file ueye_camera_driver.h.
string UeyeCameraDriver::frame_id_ |
Topic message frame_id (header)
Definition at line 76 of file ueye_camera_driver.h.
Image data size.
Definition at line 75 of file ueye_camera_driver.h.
Image height.
Definition at line 65 of file ueye_camera_driver.h.
Left space to the image center.
Definition at line 66 of file ueye_camera_driver.h.
Top space to the image center.
Definition at line 67 of file ueye_camera_driver.h.
Image width.
Definition at line 64 of file ueye_camera_driver.h.
Mirror LeftRigth.
Definition at line 74 of file ueye_camera_driver.h.
Mirror UpDown.
Definition at line 73 of file ueye_camera_driver.h.
Camera load parameters mode.
Definition at line 69 of file ueye_camera_driver.h.
Pixel clock frequency.
Definition at line 71 of file ueye_camera_driver.h.
CUeye_Camera UeyeCameraDriver::ueye_cam_ |
Object of the main ueye driver library class.
Definition at line 61 of file ueye_camera_driver.h.