Public Types | Public Member Functions | Public Attributes
UeyeCameraDriver Class Reference

IRI ROS Specific Driver Class. More...

#include <ueye_camera_driver.h>

Inheritance diagram for UeyeCameraDriver:
Inheritance graph
[legend]

List of all members.

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

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.

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_cfgthe new driver configuration state
levellevel in which the update is taken place

Definition at line 71 of file ueye_camera_driver.cpp.

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.

Returns:
bool successful

Implements iri_base_driver::IriBaseDriver.

Definition at line 66 of file ueye_camera_driver.cpp.


Member Data Documentation

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.

Exposure time.

Definition at line 72 of file ueye_camera_driver.h.

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.

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.

Object of the main ueye driver library class.

Definition at line 61 of file ueye_camera_driver.h.


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


iri_ueye_camera
Author(s): Àngel Santamaria-Navarro, asantamaria@iri.upc.edu
autogenerated on Fri Dec 6 2013 22:48:03