avt_vimba_camera.cpp

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#include <avt_vimba_camera/avt_vimba_camera.h>
#include <avt_vimba_camera/avt_vimba_api.h>

#include <ros/ros.h>
#include <ros/console.h>

namespace avt_vimba_camera {

static const char* AutoMode[] = {
  "Off",
  "Once",
  "Continuous"};
static const char* TriggerMode[] = {
  "Freerun",
  "FixedRate",
  "Software",
  "Line1",
  "Line2",
  "Line3",
  "Line4" };
static const char* AcquisitionMode[] = {
  "Continuous",
  "SingleFrame",
  "MultiFrame",
  "Recorder"};
static const char* PixelFormatMode[] = {
  "Mono8",
  "Mono12",
  "Mono12Packed",
  "BayerRG8",
  "BayerRG12Packed",
  "BayerRG12",
  "RGB8Packed",
  "BGR8Packed"};
static const char* BalanceRatioMode[] = {
  "Red",
  "Blue"};
static const char* FeatureDataType[] = {
  "Unknown",
  "int",
  "float",
  "enum",
  "string",
  "bool"};

static const char* State[] = {
  "Opening",
  "Idle",
  "Camera not found",
  "Format error",
  "Error",
  "Ok"};


AvtVimbaCamera::AvtVimbaCamera() : AvtVimbaCamera(ros::this_node::getName().c_str()) {

}

AvtVimbaCamera::AvtVimbaCamera(std::string name) {
  // Init global variables
  opened_ = false;   // camera connected to the api
  streaming_ = false;  // capturing frames
  on_init_ = true;   // on initialization phase
  show_debug_prints_ = false;
  name_ = name;

  camera_state_ = OPENING;

  updater_.setHardwareID("unknown");
  updater_.add(name_, this, &AvtVimbaCamera::getCurrentState);
  updater_.update();
}

void AvtVimbaCamera::start(std::string ip_str, std::string guid_str, bool debug_prints) {
  if (opened_) return;

  show_debug_prints_ = debug_prints;
  updater_.broadcast(0, "Starting device with IP:" + ip_str + " or GUID:" + guid_str);

  // Determine which camera to use. Try IP first
  if (!ip_str.empty()) {
    diagnostic_msg_ = "Trying to open camera by IP: " + ip_str;
    ROS_INFO_STREAM("Trying to open camera by IP: " << ip_str);
    vimba_camera_ptr_ = openCamera(ip_str);
    updater_.setHardwareID(ip_str);
    guid_ = ip_str;
    // If both guid and IP are available, open by IP and check guid
    if (!guid_str.empty()) {
      std::string cam_guid_str;
      vimba_camera_ptr_->GetSerialNumber(cam_guid_str);
      assert(cam_guid_str == guid_str);
      updater_.setHardwareID(guid_str);
      guid_ = guid_str;
      diagnostic_msg_ = "GUID " + cam_guid_str + " matches for camera with IP: " + ip_str;
      ROS_INFO_STREAM("GUID " << cam_guid_str << " matches for camera with IP: " << ip_str);
    }
  } else if (!guid_str.empty()) {
    // Only guid available
    diagnostic_msg_ = "Trying to open camera by ID: " + guid_str;
    ROS_INFO_STREAM("Trying to open camera by ID: " << guid_str);
    vimba_camera_ptr_ = openCamera(guid_str);
    updater_.setHardwareID(guid_str);
    guid_ = guid_str;
  } else {
    // No identifying info (GUID and IP) are available
    diagnostic_msg_ = "Can't connect to the camera: at least GUID or IP need to be set.";
    ROS_ERROR("Can't connect to the camera: at least GUID or IP need to be set.");
    camera_state_ = ERROR;
  }
  updater_.update();

  // From the SynchronousGrab API example:
  // TODO Set the GeV packet size to the highest possible value
  VmbInterfaceType cam_int_type;
  vimba_camera_ptr_->GetInterfaceType(cam_int_type);
  if ( cam_int_type == VmbInterfaceEthernet ){
    runCommand("GVSPAdjustPacketSize");
  }

  std::string trigger_source;
  getFeatureValue("TriggerSource", trigger_source);
  int trigger_source_int = getTriggerModeInt(trigger_source);

  if (trigger_source_int == Freerun   ||
      trigger_source_int == FixedRate ||
      trigger_source_int == SyncIn1) {
    // Create a frame observer for this camera
    vimba_frame_observer_ptr_ = new FrameObserver(vimba_camera_ptr_,
      boost::bind(&avt_vimba_camera::AvtVimbaCamera::frameCallback, this, _1));
    camera_state_ = IDLE;
  } else {
    diagnostic_msg_ = "Trigger mode " +
                    std::string(TriggerMode[trigger_source_int]) +
                    " not implemented.";
    ROS_ERROR_STREAM("Trigger mode " <<
                    TriggerMode[trigger_source_int] <<
                    " not implemented.");
    camera_state_ = ERROR;
  }
  updater_.update();
}

void AvtVimbaCamera::startImaging(void) {
  if (!streaming_) {
    // Start streaming
    VmbErrorType err =
      vimba_camera_ptr_->StartContinuousImageAcquisition(1,  // num_frames_,
      IFrameObserverPtr(vimba_frame_observer_ptr_));
    if (VmbErrorSuccess == err) {
      diagnostic_msg_ = "Starting continuous image acquisition";
      ROS_INFO_STREAM("[" << name_
        << "]: Starting continuous image acquisition...(" << frame_id_ << ")");
      streaming_ = true;
      camera_state_ = OK;
    } else {
      diagnostic_msg_ = "Could not start continuous image acquisition. Error: " + api_.errorCodeToMessage(err);
      ROS_ERROR_STREAM("[" << name_
        << "]: Could not start continuous image acquisition(" << frame_id_ << "). "
        << "\n Error: " << api_.errorCodeToMessage(err));
      camera_state_ = ERROR;
    }
  } else {
    ROS_WARN_STREAM("Start imaging called, but the camera is already imaging(" << frame_id_ << ").");
  }
  updater_.update();
}

void AvtVimbaCamera::stopImaging(void) {
  if (streaming_ || on_init_) {
    VmbErrorType err =
      vimba_camera_ptr_->StopContinuousImageAcquisition();
    if (VmbErrorSuccess == err) {
      diagnostic_msg_ = "Acquisition stopped";
      ROS_INFO_STREAM("[" << name_
        << "]: Acquisition stoppped... (" << frame_id_ << ")");
      streaming_ = false;
      camera_state_ = IDLE;
    } else {
      diagnostic_msg_ = "Could not stop image acquisition. Error: " + api_.errorCodeToMessage(err);
      ROS_ERROR_STREAM("[" << name_
        << "]: Could not stop image acquisition (" << frame_id_ << ")."
        << "\n Error: " << api_.errorCodeToMessage(err));
      camera_state_ = ERROR;
    }
  } else {
    ROS_WARN_STREAM("Stop imaging called, but the camera is already stopped (" << frame_id_ << ").");
  }
  updater_.update();
}

void AvtVimbaCamera::updateConfig(Config& config) {
  boost::mutex::scoped_lock lock(config_mutex_);

  frame_id_ =  config.frame_id;

  if (streaming_) {
    stopImaging();
    ros::Duration(0.5).sleep(); // sleep for half a second
  }

  if (on_init_) {
    config_ = config;
  }
  diagnostic_msg_ = "Updating configuration";
  if(show_debug_prints_)
    ROS_INFO_STREAM("Updating configuration for camera " << config.frame_id);
  updateExposureConfig(config);
  updateGainConfig(config);
  updateWhiteBalanceConfig(config);
  updateImageModeConfig(config);
  updateROIConfig(config);
  updateBandwidthConfig(config);
  updateGPIOConfig(config);
  updatePtpModeConfig(config);
  updatePixelFormatConfig(config);
  updateAcquisitionConfig(config);
  config_ = config;

  if (on_init_) {
    on_init_ = false;

  }

  startImaging();
}

void AvtVimbaCamera::stop() {
  if (!opened_) return;
  vimba_camera_ptr_->Close();
  opened_ = false;
}

CameraPtr AvtVimbaCamera::openCamera(std::string id_str) {
  // Details:   The ID might be one of the following:
  //            "IP:169.254.12.13",
  //            "MAC:000f31000001",
  //            or a plain serial number: "1234567890".

  CameraPtr camera;
  VimbaSystem& vimba_system(VimbaSystem::GetInstance());
  VmbErrorType err = vimba_system.GetCameraByID(id_str.c_str(), camera);
  if (VmbErrorSuccess == err) {
    std::string cam_id, cam_name, cam_model, cam_sn, cam_int_id;
    VmbInterfaceType cam_int_type;
    VmbAccessModeType accessMode;  // = VmbAccessModeNone;
    camera->GetID(cam_id);
    camera->GetName(cam_name);
    camera->GetModel(cam_model);
    camera->GetSerialNumber(cam_sn);
    camera->GetInterfaceID(cam_int_id);
    camera->GetInterfaceType(cam_int_type);
    err = camera->GetPermittedAccess(accessMode);

    if(show_debug_prints_) {
      ROS_INFO_STREAM("[" << name_ << "]: Opened camera with"
      << "\n\t\t * Name     : " << cam_name
      << "\n\t\t * Model    : " << cam_model
      << "\n\t\t * ID       : " << cam_id
      << "\n\t\t * S/N      : " << cam_sn
      << "\n\t\t * Itf. ID  : " << cam_int_id
      << "\n\t\t * Itf. Type: " << interfaceToString(cam_int_type)
      << "\n\t\t * Access   : " << accessModeToString(accessMode));
    }

    err = camera->Open(VmbAccessModeFull);
    if (VmbErrorSuccess == err) {
      //printAllCameraFeatures(camera);
      opened_ = true;
      camera_state_ = IDLE;
    } else {
      ROS_ERROR_STREAM("[" << name_
        << "]: Could not get camera " << id_str
        << "\n Error: " << api_.errorCodeToMessage(err));
      camera_state_ = CAMERA_NOT_FOUND;
    }
  } else {
    ROS_ERROR_STREAM("[" << name_
      << "]: Could not get camera " << id_str
      << "\n Error: " << api_.errorCodeToMessage(err));
    camera_state_ = CAMERA_NOT_FOUND;
  }
  return camera;
}

void AvtVimbaCamera::frameCallback(const FramePtr vimba_frame_ptr) {
  boost::mutex::scoped_lock lock(config_mutex_);
  camera_state_ = OK;
  diagnostic_msg_ = "Camera operating normally";

  // Call the callback implemented by other classes
  thread_callback_ = boost::thread(userFrameCallback, vimba_frame_ptr);
  thread_callback_.join();

  // Queue the frame so that we can receive a new one.
  vimba_camera_ptr_->QueueFrame(vimba_frame_ptr);
  updater_.update();
}

double AvtVimbaCamera::getDeviceTemp(void) {
  double temp = -1.0;
  if (setFeatureValue("DeviceTemperatureSelector", "Main")) {
    getFeatureValue("DeviceTemperature", temp);
  }
  return temp;
}

bool AvtVimbaCamera::resetTimestamp(void) {
  return runCommand("GevTimestampControlReset");
}

double AvtVimbaCamera::getTimestamp(void) {
  double timestamp = -1.0;
  if (runCommand("GevTimestampControlLatch")) {
    VmbInt64_t freq, ticks;
    getFeatureValue("GevTimestampTickFrequency", freq);
    getFeatureValue("GevTimestampValue", ticks);
    timestamp = ((double)ticks)/((double)freq);
  }
  return timestamp;
}

// Template function to GET a feature value from the camera
template<typename T>
bool AvtVimbaCamera::getFeatureValue(const std::string& feature_str, T& val) {
  VmbErrorType err;
  FeaturePtr vimba_feature_ptr;
  VmbFeatureDataType data_type;
  err = vimba_camera_ptr_->GetFeatureByName(feature_str.c_str(),
                                            vimba_feature_ptr);
  if (VmbErrorSuccess == err) {
    bool readable;
    vimba_feature_ptr->IsReadable(readable);
    if (readable) {
      vimba_feature_ptr->GetDataType(data_type);
      if ( VmbErrorSuccess != err ) {
        std::cout << "[Could not get feature Data Type. Error code: "
                  << err << "]" << std::endl;
      } else {
        std::string strValue;
        switch ( data_type ) {
          case VmbFeatureDataBool:
          bool bValue;
          err = vimba_feature_ptr->GetValue(bValue);
          if (VmbErrorSuccess == err) {
            val = static_cast<T>(bValue);
          }
          break;
          case VmbFeatureDataFloat:
          double fValue;
          err = vimba_feature_ptr->GetValue(fValue);
          if (VmbErrorSuccess == err) {
            val = static_cast<T>(fValue);
          }
          break;
          case VmbFeatureDataInt:
          VmbInt64_t  nValue;
          err = vimba_feature_ptr->GetValue(nValue);
          if (VmbErrorSuccess == err) {
            val = static_cast<T>(nValue);
          }
          break;
        }
        if (VmbErrorSuccess != err) {
          ROS_WARN_STREAM("Could not get feature value. Error code: "
                    << api_.errorCodeToMessage(err));
        }
      }
    } else {
      ROS_WARN_STREAM("[" << name_ << "]: Feature "
                       << feature_str
                       << " is not readable.");
    }
  } else {
    ROS_WARN_STREAM("[" << name_
      << "]: Could not get feature " << feature_str);
  }
  if (show_debug_prints_)
    ROS_INFO_STREAM("Asking for feature "
      << feature_str << " with datatype "
      << FeatureDataType[data_type]
      << " and value " << val);
  return (VmbErrorSuccess == err);
}

// Function to GET a feature value from the camera, overloaded to strings
bool AvtVimbaCamera::getFeatureValue(const std::string& feature_str,
                                     std::string& val) {
  VmbErrorType err;
  FeaturePtr vimba_feature_ptr;
  VmbFeatureDataType data_type;
  err = vimba_camera_ptr_->GetFeatureByName(feature_str.c_str(),
                                            vimba_feature_ptr);
  if (VmbErrorSuccess == err) {
    bool readable;
    vimba_feature_ptr->IsReadable(readable);
    if (readable) {
      vimba_feature_ptr->GetDataType(data_type);
      if ( VmbErrorSuccess != err ) {
        std::cout << "[Could not get feature Data Type. Error code: "
                  << err << "]" << std::endl;
      } else {
        std::string strValue;
        switch ( data_type ) {
          case VmbFeatureDataEnum:
          err = vimba_feature_ptr->GetValue(strValue);
          if (VmbErrorSuccess == err) {
            val = strValue;
          }
          break;
          case VmbFeatureDataString:
          err = vimba_feature_ptr->GetValue(strValue);
          if (VmbErrorSuccess == err) {
            val = strValue;
          }
          break;
        }
        if (VmbErrorSuccess != err) {
          ROS_WARN_STREAM("Could not get feature value. Error code: "
                    << api_.errorCodeToMessage(err));
        }
      }
    } else {
      ROS_WARN_STREAM("[" << name_ << "]: Feature "
                       << feature_str
                       << " is not readable.");
    }
  } else {
    ROS_WARN_STREAM("[" << name_
      << "]: Could not get feature " << feature_str);
  }
  if(show_debug_prints_) {
    ROS_INFO_STREAM("Asking for feature " << feature_str
      << " with datatype " << FeatureDataType[data_type]
      << " and value " << val);
  }
  return (VmbErrorSuccess == err);
}

// Template function to SET a feature value from the camera
template<typename T>
bool AvtVimbaCamera::setFeatureValue(const std::string& feature_str,
                                     const T& val) {
  VmbErrorType err;
  FeaturePtr vimba_feature_ptr;
  err = vimba_camera_ptr_->GetFeatureByName(feature_str.c_str(),
                                            vimba_feature_ptr);
  if (VmbErrorSuccess == err) {
    bool writable;
    err = vimba_feature_ptr->IsWritable(writable);
    if (VmbErrorSuccess == err) {
      if (writable) {
        if(show_debug_prints_)
          ROS_INFO_STREAM("Setting feature " << feature_str << " value " << val);
        VmbFeatureDataType data_type;
        err = vimba_feature_ptr->GetDataType(data_type);
        if (VmbErrorSuccess == err) {
          if (data_type == VmbFeatureDataEnum) {
            bool available;
            err = vimba_feature_ptr->IsValueAvailable(val, available);
            if (VmbErrorSuccess == err) {
              if (available) {
                err = vimba_feature_ptr->SetValue(val);
              } else {
                ROS_WARN_STREAM("[" << name_
                  << "]: Feature " << feature_str << " is available now.");
              }
            } else {
              ROS_WARN_STREAM("[" << name_ << "]: Feature "
                << feature_str << ": value unavailable\n\tERROR "
                << api_.errorCodeToMessage(err));
            }
          } else {
            err = vimba_feature_ptr->SetValue(val);
          }
        } else {
          ROS_WARN_STREAM("[" << name_ << "]: Feature "
            << feature_str << ": Bad data type\n\tERROR "
            << api_.errorCodeToMessage(err));
        }
      } else {
        ROS_WARN_STREAM("[" << name_ << "]: Feature "
                         << feature_str
                         << " is not writable.");
      }
    } else {
      ROS_WARN_STREAM("[" << name_ << "]: Feature "
        << feature_str << ": ERROR " << api_.errorCodeToMessage(err));
    }
  } else {
    ROS_WARN_STREAM("[" << name_
      << "]: Could not get feature " << feature_str
      << "\n Error: " << api_.errorCodeToMessage(err));
  }
  return (VmbErrorSuccess == err);
}


// Template function to RUN a command
bool AvtVimbaCamera::runCommand(const std::string& command_str) {
  FeaturePtr feature_ptr;
  VmbErrorType err = vimba_camera_ptr_->GetFeatureByName(command_str.c_str(), feature_ptr);
  if (VmbErrorSuccess == err ) {
    err = feature_ptr->RunCommand();
    if ( VmbErrorSuccess == err ) {
      bool is_command_done = false;
      do {
        err = feature_ptr->IsCommandDone(is_command_done);
        if ( VmbErrorSuccess != err ) {
          break;
        }
        if(show_debug_prints_) {
          ROS_INFO_STREAM_THROTTLE(1, "Waiting for command "
            << command_str.c_str() << "...");
        }
      } while ( false == is_command_done );
      if(show_debug_prints_)
        ROS_INFO_STREAM("Command " << command_str.c_str() << " done!");
      return true;
    } else {
      ROS_WARN_STREAM("[" << name_
      << "]: Could not run command " << command_str << ". Error: " << api_.errorCodeToMessage(err));
      return false;
    }
  } else {
    ROS_WARN_STREAM("[" << name_
      << "]: Could not get feature command " << command_str << ". Error: " << api_.errorCodeToMessage(err));
    return false;
  }
}

std::string AvtVimbaCamera::interfaceToString(VmbInterfaceType interfaceType) {
  switch ( interfaceType ) {
    case VmbInterfaceFirewire: return "FireWire";
      break;
    case VmbInterfaceEthernet: return "GigE";
      break;
    case VmbInterfaceUsb: return "USB";
      break;
    default: return "Unknown";
  }
}

std::string AvtVimbaCamera::accessModeToString(VmbAccessModeType modeType) {
  std::string s;
  if (modeType & VmbAccessModeFull)
    s = std::string("Read and write access");
  else if (modeType & VmbAccessModeRead)
    s = std::string("Only read access");
  else if (modeType & VmbAccessModeConfig)
    s = std::string("Device configuration access");
  else if (modeType & VmbAccessModeLite)
    s = std::string("Device read/write access without feature access (only addresses)");
  else if (modeType & VmbAccessModeNone)
    s = std::string("No access");
  return s;
}

int AvtVimbaCamera::getTriggerModeInt(std::string mode_str) {
  int mode;
  if (mode_str == TriggerMode[Freerun]) {
    mode = Freerun;
  } else if (mode_str == TriggerMode[FixedRate]) {
    mode = FixedRate;
  } else if (mode_str == TriggerMode[Software]) {
    mode = Software;
  } else if (mode_str == TriggerMode[SyncIn1]) {
    mode = SyncIn1;
  } else if (mode_str == TriggerMode[SyncIn2]) {
    mode = SyncIn2;
  } else if (mode_str == TriggerMode[SyncIn3]) {
    mode = SyncIn3;
  } else if (mode_str == TriggerMode[SyncIn4]) {
    mode = SyncIn4;
  }
  return mode;
}

void AvtVimbaCamera::printAllCameraFeatures(CameraPtr camera) {
  VmbErrorType err;
  FeaturePtrVector features;

  // The static details of a feature
  std::string strName;           // The name of the feature
  std::string strDisplayName;    // The display name of the feature
  std::string strTooltip;        // A short description of the feature
  std::string strDescription;    // A long description of the feature
  std::string strCategory;       // A category to group features
  std::string strSFNCNamespace;  // The Std Feature Naming Convention namespace
  std::string strUnit;           // The measurement unit of the value
  VmbFeatureDataType eType;      // The data type of the feature

  // The changeable value of a feature
  VmbInt64_t  nValue;
  std::string strValue;

  std::stringstream strError;

  // Fetch all features of our cam
  err = camera->GetFeatures(features);
  if ( VmbErrorSuccess == err ) {
    // Query all static details as well as the value of
    // all fetched features and print them out.
    for (   FeaturePtrVector::const_iterator iter = features.begin();
      features.end() != iter;
      ++iter ) {
      err = (*iter)->GetName(strName);
      if (VmbErrorSuccess != err) {
        strError << "[Could not get feature Name. Error code: " << err << "]";
        strName.assign(strError.str());
      }

      err = (*iter)->GetDisplayName(strDisplayName);
      if (VmbErrorSuccess != err) {
        strError << "[Could not get feature Display Name. Error code: "
                 << err << "]";
        strDisplayName.assign(strError.str());
      }

      err = (*iter)->GetToolTip(strTooltip);
      if (VmbErrorSuccess != err) {
        strError << "[Could not get feature Tooltip. Error code: "
                 << err << "]";
        strTooltip.assign(strError.str());
      }

      err = (*iter)->GetDescription(strDescription);
      if (VmbErrorSuccess != err) {
        strError << "[Could not get feature Description. Error code: "
                 << err << "]";
        strDescription.assign(strError.str());
      }

      err = (*iter)->GetCategory(strCategory);
      if (VmbErrorSuccess != err) {
        strError << "[Could not get feature Category. Error code: "
                 << err << "]";
        strCategory.assign(strError.str());
      }

      err = (*iter)->GetSFNCNamespace(strSFNCNamespace);
      if (VmbErrorSuccess != err) {
        strError << "[Could not get feature SNFC Namespace. Error code: "
                 << err << "]";
        strSFNCNamespace.assign(strError.str());
      }

      err = (*iter)->GetUnit(strUnit);
      if (VmbErrorSuccess != err) {
        strError << "[Could not get feature Unit. Error code: " << err << "]";
        strUnit.assign(strError.str());
      }

      std::cout << "/// Feature Name: " << strName << std::endl;
      std::cout << "/// Display Name: " << strDisplayName << std::endl;
      std::cout << "/// Tooltip: " << strTooltip << std::endl;
      std::cout << "/// Description: " << strDescription << std::endl;
      std::cout << "/// SNFC Namespace: " << strSFNCNamespace << std::endl;
      std::cout << "/// Unit: " << strUnit << std::endl;
      std::cout << "/// Value: ";

      err = (*iter)->GetDataType(eType);
      if ( VmbErrorSuccess != err ) {
        std::cout << "[Could not get feature Data Type. Error code: "
                  << err << "]" << std::endl;
      } else {
        switch ( eType ) {
          case VmbFeatureDataBool:
          bool bValue;
          err = (*iter)->GetValue(bValue);
          if (VmbErrorSuccess == err) {
            std::cout << bValue << " bool" << std::endl;
          }
          break;
          case VmbFeatureDataEnum:
          err = (*iter)->GetValue(strValue);
          if (VmbErrorSuccess == err) {
            std::cout << strValue << " str Enum" << std::endl;
          }
          break;
          case VmbFeatureDataFloat:
          double fValue;
          err = (*iter)->GetValue(fValue);
          {
            std::cout << fValue << " float" << std::endl;
          }
          break;
          case VmbFeatureDataInt:
          err = (*iter)->GetValue(nValue);
          {
            std::cout << nValue << " int" << std::endl;
          }
          break;
          case VmbFeatureDataString:
          err = (*iter)->GetValue(strValue);
          {
            std::cout << strValue << " str" << std::endl;
          }
          break;
          case VmbFeatureDataCommand:
          default:
          std::cout << "[None]" << std::endl;
          break;
        }
        if (VmbErrorSuccess != err) {
          std::cout << "Could not get feature value. Error code: "
                    << err << std::endl;
        }
      }

      std::cout << std::endl;
    }
  } else {
    std::cout << "Could not get features. Error code: " << err << std::endl;
  }
}

void AvtVimbaCamera::updateAcquisitionConfig(Config& config) {
  bool changed = false;
  if (config.acquisition_mode != config_.acquisition_mode || on_init_) {
    changed = true;
    setFeatureValue("AcquisitionMode", config.acquisition_mode.c_str());
  }
  if (config.acquisition_rate != config_.acquisition_rate || on_init_) {
    changed = true;
    double acquisition_frame_rate_limit;
    getFeatureValue("AcquisitionFrameRateLimit", acquisition_frame_rate_limit);
    if (acquisition_frame_rate_limit < config.acquisition_rate) {
      double rate = (double)floor(acquisition_frame_rate_limit);
      ROS_WARN_STREAM("Max frame rate allowed: " << acquisition_frame_rate_limit
                      << ". Setting " << rate << "...");
      config.acquisition_rate = rate;
    }
    setFeatureValue("AcquisitionFrameRateAbs",
                    static_cast<float>(config.acquisition_rate));
  }
  if (config.trigger_mode != config_.trigger_mode || on_init_) {
    changed = true;
    setFeatureValue("TriggerMode", config.trigger_mode.c_str());
  }
  if (config.trigger_selector != config_.trigger_selector || on_init_) {
    changed = true;
    setFeatureValue("TriggerSelector", config.trigger_selector.c_str());
  }
  if (config.trigger_source != config_.trigger_source || on_init_) {
    changed = true;
    setFeatureValue("TriggerSource", config.trigger_source.c_str());
  }
  if (config.trigger_activation != config_.trigger_activation || on_init_) {
    changed = true;
    setFeatureValue("TriggerActivation", config.trigger_activation.c_str());
  }
  if (config.trigger_delay != config_.trigger_delay || on_init_) {
    changed = true;
    setFeatureValue("TriggerDelayAbs", config.trigger_delay);
  }
  if(changed && show_debug_prints_){
    ROS_INFO_STREAM("New Acquisition and Trigger config (" << config.frame_id << ") : "
      << "\n\tAcquisitionMode         : " << config.acquisition_mode   << " was " << config_.acquisition_mode
      << "\n\tAcquisitionFrameRateAbs : " << config.acquisition_rate   << " was " << config_.acquisition_rate
      << "\n\tTriggerMode             : " << config.trigger_mode       << " was " << config_.trigger_mode
      << "\n\tTriggerSource           : " << config.trigger_source     << " was " << config_.trigger_source
      << "\n\tTriggerSelector         : " << config.trigger_selector   << " was " << config_.trigger_selector
      << "\n\tTriggerActivation       : " << config.trigger_activation << " was " << config_.trigger_activation
      << "\n\tTriggerDelayAbs         : " << config.trigger_delay      << " was " << config_.trigger_delay);
  }
}

void AvtVimbaCamera::updateExposureConfig(Config& config) {
  bool changed = false;
  if (config.exposure != config_.exposure || on_init_) {
    changed = true;
    setFeatureValue("ExposureTimeAbs", static_cast<float>(config.exposure));
  }
  if (config.exposure_auto != config_.exposure_auto || on_init_) {
    changed = true;
    setFeatureValue("ExposureAuto", config.exposure_auto.c_str());
  }
  if (config.exposure_auto_alg != config_.exposure_auto_alg || on_init_) {
    changed = true;
    setFeatureValue("ExposureAutoAlg", config.exposure_auto_alg.c_str());
  }
  if (config.exposure_auto_tol != config_.exposure_auto_tol || on_init_) {
    changed = true;
    setFeatureValue("ExposureAutoAdjustTol",
                    static_cast<VmbInt64_t>(config.exposure_auto_tol));
  }
  if (config.exposure_auto_max != config_.exposure_auto_max || on_init_) {
    changed = true;
    setFeatureValue("ExposureAutoMax",
                    static_cast<VmbInt64_t>(config.exposure_auto_max));
  }
  if (config.exposure_auto_min != config_.exposure_auto_min || on_init_) {
    changed = true;
    setFeatureValue("ExposureAutoMin",
                    static_cast<VmbInt64_t>(config.exposure_auto_min));
  }
  if (config.exposure_auto_outliers != config_.exposure_auto_outliers || on_init_) {
    changed = true;
    setFeatureValue("ExposureAutoOutliers",
                    static_cast<VmbInt64_t>(config.exposure_auto_outliers));
  }
  if (config.exposure_auto_rate != config_.exposure_auto_rate || on_init_) {
    changed = true;
    setFeatureValue("ExposureAutoRate",
                    static_cast<VmbInt64_t>(config.exposure_auto_rate));
  }
  if (config.exposure_auto_target != config_.exposure_auto_target || on_init_) {
    changed = true;
    setFeatureValue("ExposureAutoTarget",
                    static_cast<VmbInt64_t>(config.exposure_auto_target));
  }
  if(changed && show_debug_prints_){
    ROS_INFO_STREAM("New Exposure config (" << config.frame_id << ") : "
      << "\n\tExposureTimeAbs       : " << config.exposure               << " was " << config_.exposure
      << "\n\tExposureAuto          : " << config.exposure_auto          << " was " << config_.exposure_auto
      << "\n\tExposureAutoAdjustTol : " << config.exposure_auto_tol      << " was " << config_.exposure_auto_tol
      << "\n\tExposureAutoMax       : " << config.exposure_auto_max      << " was " << config_.exposure_auto_max
      << "\n\tExposureAutoMin       : " << config.exposure_auto_min      << " was " << config_.exposure_auto_min
      << "\n\tExposureAutoOutliers  : " << config.exposure_auto_outliers << " was " << config_.exposure_auto_outliers
      << "\n\tExposureAutoRate      : " << config.exposure_auto_rate     << " was " << config_.exposure_auto_rate
      << "\n\tExposureAutoTarget    : " << config.exposure_auto_target   << " was " << config_.exposure_auto_target);
  }
}

void AvtVimbaCamera::updateGainConfig(Config& config) {
  bool changed = false;
  if (config.gain != config_.gain || on_init_) {
    changed = true;
    setFeatureValue("Gain", static_cast<float>(config.gain));
  }
  if (config.gain_auto != config_.gain_auto || on_init_) {
    changed = true;
    setFeatureValue("GainAuto", config.gain_auto.c_str());
  }
  if (config.gain_auto_tol != config_.gain_auto_tol || on_init_) {
    changed = true;
    setFeatureValue("GainAutoAdjustTol",
                    static_cast<VmbInt64_t>(config.gain_auto_tol));
  }
  if (config.gain_auto_max != config_.gain_auto_max || on_init_) {
    changed = true;
    setFeatureValue("GainAutoMax", static_cast<float>(config.gain_auto_max));
  }
  if (config.gain_auto_min != config_.gain_auto_min || on_init_) {
    changed = true;
    setFeatureValue("GainAutoMin",
                    static_cast<VmbInt64_t>(config.gain_auto_min));
  }
  if (config.gain_auto_outliers != config_.gain_auto_outliers || on_init_) {
    changed = true;
    setFeatureValue("GainAutoMin",
                    static_cast<VmbInt64_t>(config.gain_auto_outliers));
  }
  if (config.gain_auto_rate != config_.gain_auto_rate || on_init_) {
    changed = true;
    setFeatureValue("GainAutoOutliers",
                    static_cast<VmbInt64_t>(config.gain_auto_rate));
  }
  if (config.gain_auto_target != config_.gain_auto_target || on_init_) {
    changed = true;
    setFeatureValue("GainAutoRate", static_cast<VmbInt64_t>(config.gain_auto_target));
  }
  if(changed && show_debug_prints_){
    ROS_INFO_STREAM("New Gain config (" << config.frame_id << ") : "
      << "\n\tGain              : " << config.gain               << " was " << config_.gain
      << "\n\tGainAuto          : " << config.gain_auto          << " was " << config_.gain_auto
      << "\n\tGainAutoAdjustTol : " << config.gain_auto_tol      << " was " << config_.gain_auto_tol
      << "\n\tGainAutoMax       : " << config.gain_auto_max      << " was " << config_.gain_auto_max
      << "\n\tGainAutoMin       : " << config.gain_auto_min      << " was " << config_.gain_auto_min
      << "\n\tGainAutoOutliers  : " << config.gain_auto_outliers << " was " << config_.gain_auto_outliers
      << "\n\tGainAutoRate      : " << config.gain_auto_rate     << " was " << config_.gain_auto_rate
      << "\n\tGainAutoTarget    : " << config.gain_auto_target   << " was " << config_.gain_auto_target);
  }
}

void AvtVimbaCamera::updateWhiteBalanceConfig(Config& config){
  bool changed = false;
  if (config.balance_ratio_abs != config_.balance_ratio_abs || on_init_) {
    changed = true;
    setFeatureValue("BalanceRatioAbs", static_cast<float>(config.balance_ratio_abs));
  }
  if (config.balance_ratio_selector != config_.balance_ratio_selector || on_init_) {
    changed = true;
    setFeatureValue("BalanceRatioSelector", config.balance_ratio_selector.c_str());
  }
  if (config.whitebalance_auto != config_.whitebalance_auto || on_init_) {
    changed = true;
    setFeatureValue("BalanceWhiteAuto", config.whitebalance_auto.c_str());
  }
  if (config.whitebalance_auto_tol != config_.whitebalance_auto_tol || on_init_) {
    changed = true;
    setFeatureValue("BalanceWhiteAutoAdjustTol", static_cast<VmbInt64_t>(config.whitebalance_auto_tol));
  }
  if (config.whitebalance_auto_rate != config_.whitebalance_auto_rate || on_init_) {
    changed = true;
    setFeatureValue("BalanceWhiteAutoRate", static_cast<VmbInt64_t>(config.whitebalance_auto_rate));
  }
  if(changed && show_debug_prints_){
    ROS_INFO_STREAM("New White Balance config (" << config.frame_id << ") : "
      << "\n\tBalanceRatioAbs           : " << config.balance_ratio_abs      << " was " << config_.balance_ratio_abs
      << "\n\tBalanceRatioSelector      : " << config.balance_ratio_selector << " was " << config_.balance_ratio_selector
      << "\n\tBalanceWhiteAuto          : " << config.whitebalance_auto      << " was " << config_.whitebalance_auto
      << "\n\tBalanceWhiteAutoAdjustTol : " << config.whitebalance_auto_tol  << " was " << config_.whitebalance_auto_tol
      << "\n\tBalanceWhiteAutoRate      : " << config.whitebalance_auto_rate << " was " << config_.whitebalance_auto_rate);
  }
}

void AvtVimbaCamera::updatePtpModeConfig(Config& config) {
  bool changed = false;
  if (config.ptp_mode != config_.ptp_mode || on_init_) {
    changed = true;
    setFeatureValue("PtpMode", config.ptp_mode.c_str());
  }

  if(changed && show_debug_prints_){
    ROS_INFO_STREAM("New PTP config (" << config.frame_id << ") : "
      << "\n\tPtpMode                   : " << config.ptp_mode << " was " << config_.ptp_mode);
  }
}

void AvtVimbaCamera::updateImageModeConfig(Config& config) {
  bool changed = false;
  if (config.decimation_x != config_.decimation_x || on_init_) {
    changed = true;
    setFeatureValue("DecimationHorizontal",
                    static_cast<VmbInt64_t>(config.decimation_x));
  }
  if (config.decimation_y != config_.decimation_y || on_init_) {
    changed = true;
    setFeatureValue("DecimationVertical", static_cast<VmbInt64_t>(config.decimation_y));
  }
  if (config.binning_x != config_.binning_x || on_init_) {
    changed = true;
    setFeatureValue("BinningHorizontal", static_cast<VmbInt64_t>(config.binning_x));
  }
  if (config.binning_y != config_.binning_y || on_init_) {
    changed = true;
    setFeatureValue("BinningVertical", static_cast<VmbInt64_t>(config.binning_y));
  }
  if(changed && show_debug_prints_){
    ROS_INFO_STREAM("New Image Mode config (" << config.frame_id << ") : "
      << "\n\tDecimationHorizontal : " << config.decimation_x << " was " << config_.decimation_x
      << "\n\tDecimationVertical   : " << config.decimation_y << " was " << config_.decimation_y
      << "\n\tBinningHorizontal    : " << config.binning_x    << " was " << config_.binning_x
      << "\n\tBinningVertical      : " << config.binning_y    << " was " << config_.binning_y);
  }
}

void AvtVimbaCamera::updateROIConfig(Config& config) {
  bool changed = false;

  // Region of interest configuration
  // Make sure ROI fits in image

  int max_width, max_height;
  getFeatureValue("WidthMax", max_width);
  getFeatureValue("HeightMax", max_height);

  int binning_or_decimation_x = std::max(config.binning_x, config.decimation_x);
  int binning_or_decimation_y = std::max(config.binning_y, config.decimation_y);

  max_width *= binning_or_decimation_x;
  max_height *= binning_or_decimation_y;

  config.width        = std::min(config.width,  (int)max_width);
  config.height       = std::min(config.height, (int)max_height);
  config.roi_offset_x = std::min(config.roi_offset_x, config.width - 1);
  config.roi_offset_y = std::min(config.roi_offset_y, config.height - 1);
  config.roi_width    = std::min(config.roi_width,  config.width  - config.roi_offset_x);
  config.roi_height   = std::min(config.roi_height, config.height - config.roi_offset_y);
  // If width or height is 0, set it as large as possible
  int width  = config.roi_width  ? config.roi_width  : max_width  - config.roi_offset_x;
  int height = config.roi_height ? config.roi_height : max_height - config.roi_offset_y;

  // Adjust full-res ROI to binning ROI
  int offset_x = config.roi_offset_x;
  int offset_y = config.roi_offset_y;
  unsigned int right_x  = (offset_x + width  + binning_or_decimation_x - 1);
  unsigned int bottom_y = (offset_y + height + binning_or_decimation_y - 1);
  // Rounding up is bad when at max resolution which is not divisible by the amount of binning
  right_x  = std::min(right_x,  (unsigned)(config.width));
  bottom_y = std::min(bottom_y, (unsigned)(config.height));
  width    = right_x  - offset_x;
  height   = bottom_y - offset_y;

  config.width  = width/binning_or_decimation_x;
  config.height = height/binning_or_decimation_y;
  config.roi_offset_x = offset_x/binning_or_decimation_x;
  config.roi_offset_y = offset_y/binning_or_decimation_y;

  if (config.roi_offset_x != config_.roi_offset_x || on_init_) {
    changed = true;
    setFeatureValue("OffsetX", static_cast<VmbInt64_t>(config.roi_offset_x));
  }
  if (config.roi_offset_y != config_.roi_offset_y || on_init_) {
    changed = true;
    setFeatureValue("OffsetY", static_cast<VmbInt64_t>(config.roi_offset_y));
  }
  if (config.width != config_.width || on_init_) {
    changed = true;
    setFeatureValue("Width", static_cast<VmbInt64_t>(config.width));
  }
  if (config.height != config_.height || on_init_) {
    changed = true;
    setFeatureValue("Height", static_cast<VmbInt64_t>(config.height));
  }

  if(changed && show_debug_prints_){
    ROS_INFO_STREAM("New ROI config (" << config.frame_id << ") : "
      << "\n\tOffsetX : " << config.roi_offset_x << " was " << config_.roi_offset_x
      << "\n\tOffsetY : " << config.roi_offset_y << " was " << config_.roi_offset_y
      << "\n\tWidth   : " << config.width        << " was " << config_.width
      << "\n\tHeight  : " << config.height       << " was " << config_.height);
  }
}

void AvtVimbaCamera::updateBandwidthConfig(Config& config) {
  bool changed = false;
  if (config.stream_bytes_per_second
      != config_.stream_bytes_per_second || on_init_) {
    changed = true;
    setFeatureValue("StreamBytesPerSecond",
                    static_cast<VmbInt64_t>(config.stream_bytes_per_second));
  }
  if(changed && show_debug_prints_){
    ROS_INFO_STREAM("New Bandwidth config (" << config.frame_id << ") : "
      << "\n\tStreamBytesPerSecond : " << config.stream_bytes_per_second << " was " << config_.stream_bytes_per_second);
  }
}

void AvtVimbaCamera::updatePixelFormatConfig(Config& config) {
  bool changed = false;
  if (config.pixel_format != config_.pixel_format || on_init_) {
    changed = true;
    setFeatureValue("PixelFormat", config.pixel_format.c_str());
  }
  if(changed && show_debug_prints_){
    ROS_INFO_STREAM("New PixelFormat config (" << config.frame_id << ") : "
      << "\n\tPixelFormat : " << config.pixel_format << " was " << config_.pixel_format);
  }
}

void AvtVimbaCamera::updateGPIOConfig(Config& config) {
  bool changed = false;
  if (config.sync_in_selector
      != config_.sync_in_selector || on_init_) {
    changed = true;
    setFeatureValue("SyncInSelector", config.sync_in_selector.c_str());
  }
  if (config.sync_out_polarity
      != config_.sync_out_polarity || on_init_) {
    changed = true;
    setFeatureValue("SyncOutPolarity", config.sync_out_polarity.c_str());
  }
  if (config.sync_out_selector
      != config_.sync_out_selector || on_init_) {
    changed = true;
    setFeatureValue("SyncOutSelector", config.sync_out_selector.c_str());
  }
  if (config.sync_out_source
      != config_.sync_out_source || on_init_) {
    changed = true;
    setFeatureValue("SyncOutSource", config.sync_out_source.c_str());
  }
  if(changed && show_debug_prints_){
    ROS_INFO_STREAM("New GPIO config (" << config.frame_id << ") : "
      << "\n\tSyncInSelector  : " << config.sync_in_selector  << " was " << config_.sync_in_selector
      << "\n\tSyncOutPolarity : " << config.sync_out_polarity << " was " << config_.sync_out_polarity
      << "\n\tSyncOutSelector : " << config.sync_out_selector << " was " << config_.sync_out_selector
      << "\n\tSyncOutSource   : " << config.sync_out_source   << " was " << config_.sync_out_source);
  }
}

void AvtVimbaCamera::getCurrentState(diagnostic_updater::DiagnosticStatusWrapper &stat) {
  stat.add("Serial", guid_);
  stat.add("Info", diagnostic_msg_);
  // stat.add("Intrinsics", intrinsics_);
  // stat.add("Total frames dropped", frames_dropped_total_);
  // stat.add("Total frames", frames_completed_total_);

  // if (frames_completed_total_ > 0) {
  //   stat.add("Total % frames dropped", 100.*(double)frames_dropped_total_/frames_completed_total_);
  // }

  // if (frames_completed_acc_.sum() > 0) {
  //   stat.add("Recent % frames dropped", 100.*frames_dropped_acc_.sum()/frames_completed_acc_.sum());
  // }

  switch (camera_state_) {
    case OPENING:
      stat.summary(diagnostic_msgs::DiagnosticStatus::WARN, "Opening camera");
      break;
    case IDLE:
      stat.summary(diagnostic_msgs::DiagnosticStatus::OK, "Camera is idle");
      break;
    case OK:
      stat.summary(diagnostic_msgs::DiagnosticStatus::OK, "Camera is streaming");
      break;
    case CAMERA_NOT_FOUND:
      stat.summaryf(diagnostic_msgs::DiagnosticStatus::ERROR, "Cannot find requested camera %s", guid_.c_str());
      // stat.add("Available Cameras", getAvailableCameras());
      break;
    case FORMAT_ERROR:
      stat.summary(diagnostic_msgs::DiagnosticStatus::ERROR, "Problem retrieving frame");
      break;
    case ERROR:
      stat.summary(diagnostic_msgs::DiagnosticStatus::ERROR, "Camera has encountered an error");
      break;
    default:
      break;
  }
}
}