IRI ROS Specific Driver Class. More...

#include <ueye_camera_driver.h>

Inheritance diagram for UeyeCameraDriver:

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.

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 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.

Member Typedef Documentation

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.

Constructor & Destructor Documentation

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.

Member Function Documentation

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.

Returns:: bool successful

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.

Parameters:

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.

Returns:: bool successful

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.

Returns:: bool successful

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.