Implements the camera configuration and setup. More...

#include <camera_commander.h>

Inheritance diagram for hfl::CameraCommander:

Public Member Functions
	CameraCommander ()

bool	createSocket (std::string computerAddr, std::string cameraAddr, uint16_t port, bool isMulticast)

void	onInit ()

bool	udpInit ()

	~CameraCommander ()

Public Member Functions inherited from nodelet::Nodelet
void	init (const std::string &name, const M_string &remapping_args, const V_string &my_argv, ros::CallbackQueueInterface st_queue=NULL, ros::CallbackQueueInterface mt_queue=NULL)

	Nodelet ()

virtual	~Nodelet ()

Private Member Functions
error_codes	checkForError ()

void	dynamicPametersCallback (hfl_driver::HFLConfig &config, uint32_t level)

bool	fixError (error_codes error)

void	frameDataCallback (const udp_com::UdpPacket &udp_packet)

void	objectDataCallback (const udp_com::UdpPacket &udp_packet)

void	pdmDataCallback (const udp_com::UdpPacket &udp_packet)

bool	sendCommand (const std::vector< uint8_t > &data)

void	setCommanderState (const ros::TimerEvent &timer_event)

bool	setFlash ()

void	sliceDataCallback (const udp_com::UdpPacket &udp_packet)

void	teleDataCallback (const udp_com::UdpPacket &udp_packet)

Private Attributes
std::string	camera_address_
	IP Address of sensor. More...

std::string	computer_address_
	IP Address of computer. More...

commander_states	current_state_
	Commander current state. More...

std::shared_ptr< dynamic_reconfigure::Server< hfl_driver::HFLConfig > >	dynamic_parameters_server_
	Dynamic Reconfigure server. More...

error_codes	error_status_
	Error Status. More...

std::string	ethernet_interface_
	Ethernet Interface. More...

std::shared_ptr< hfl::HflInterface >	flash_
	Pointer to Flash camera. More...

int	frame_data_port_
	Frame Data UDP port. More...

ros::Subscriber	frame_data_subscriber_
	UDP Frame Data subscriber. More...

std::string	namespace_
	Namespace. More...

ros::NodeHandle	node_handler_
	Node Handle. More...

int	object_data_port_
	Object Data UDP port. More...

ros::Subscriber	object_data_subscriber_
	UDP Object Data Subscriber. More...

int	pdm_data_port_
	PDM Data UDP port. More...

ros::Subscriber	pdm_data_subscriber_
	UDP PDM Data Subscriber. More...

commander_states	previous_state_
	Commander Previous state prior to error. More...

int	slice_data_port_
	Slice Data UDP port. More...

ros::Subscriber	slice_data_subscriber_
	UDP Slice Data Subscriber. More...

int	tele_data_port_
	Telemetry Data UDP port. More...

ros::Subscriber	tele_data_subscriber_
	UDP Telemetry Data Subscriber. More...

ros::Timer	timer_
	Status checker timer. More...

ros::ServiceClient	udp_send_service_client_
	UDP send service client. More...

ros::ServiceClient	udp_socket_creation_service_client_
	UDP socket service client. More...

Additional Inherited Members
Protected Member Functions inherited from nodelet::Nodelet
ros::CallbackQueueInterface &	getMTCallbackQueue () const

ros::NodeHandle &	getMTNodeHandle () const

ros::NodeHandle &	getMTPrivateNodeHandle () const

const V_string &	getMyArgv () const

const std::string &	getName () const

ros::NodeHandle &	getNodeHandle () const

ros::NodeHandle &	getPrivateNodeHandle () const

const M_string &	getRemappingArgs () const

ros::CallbackQueueInterface &	getSTCallbackQueue () const

std::string	getSuffixedName (const std::string &suffix) const

Detailed Description

Implements the camera configuration and setup.

Definition at line 80 of file camera_commander.h.

Constructor & Destructor Documentation

hfl::CameraCommander::CameraCommander ( )

CameraCommander constructor

Initialize default variables here

Definition at line 47 of file camera_commander.cpp.

hfl::CameraCommander::~CameraCommander ( )

CameraCommander destructor

Definition at line 52 of file camera_commander.cpp.

Member Function Documentation

error_codes hfl::CameraCommander::checkForError ( )

private

Checks for Errors and returns the designated error code

Definition at line 315 of file camera_commander.cpp.

bool hfl::CameraCommander::createSocket	(	std::string	computerAddr,
		std::string	cameraAddr,
		uint16_t	port,
		bool	isMulticast
	)

Create Socket Request Function

Parameters

[in]	computerAddr	Computer's IP Address
[in]	cameraAddr	Camera's IP Address
[in]	port	UDP port number
[in]	isMulticast	describes if the connection is multicast

Returns: bool true if socket created

Definition at line 85 of file camera_commander.cpp.

void hfl::CameraCommander::dynamicPametersCallback	(	hfl_driver::HFLConfig &	config,
		uint32_t	level
	)

private

Uses the dynamic reconfigure service binded callback dynamic parameter configuration.

Parameters

[in]	config	parameters data
[in]	level	priority

Returns: void

Definition at line 496 of file camera_commander.cpp.

bool hfl::CameraCommander::fixError ( error_codes error )

private

Fixes the error corresponding to the error code Returns true if error fixed, false otherwise

Returns: bool

Definition at line 349 of file camera_commander.cpp.

void hfl::CameraCommander::frameDataCallback ( const udp_com::UdpPacket & udp_packet )

private

Callback for frame data UDP packets.

Receives the frame data messages for parsing through IP addresses validation.

Parameters

[in] udp_packet UDP packet message

Returns: void

Definition at line 367 of file camera_commander.cpp.

void hfl::CameraCommander::objectDataCallback ( const udp_com::UdpPacket & udp_packet )

private

Callback for object data UDP packets

Receives the object data messages for parsing through IP addresses validation

Parameters

[in] udp_packet UDP packet message

Returns: void

Definition at line 407 of file camera_commander.cpp.

void hfl::CameraCommander::onInit ( )

virtual

Initialize Nodelet member variables

Returns: void

Implements nodelet::Nodelet.

Definition at line 61 of file camera_commander.cpp.

void hfl::CameraCommander::pdmDataCallback ( const udp_com::UdpPacket & udp_packet )

private

Callback for performance degredation module (PDM) data UDP packets

Receives the PDM data messages for parsing through IP addresses validation

Parameters

[in] udp_packet UDP packet message

Returns: void

Definition at line 387 of file camera_commander.cpp.

bool hfl::CameraCommander::sendCommand ( const std::vector< uint8_t > & data )

private

Uses the udp_com service binded send function for command sending

Parameters

[in] data Data array to be sent

Returns: bool true if command sent succed

Definition at line 467 of file camera_commander.cpp.

void hfl::CameraCommander::setCommanderState ( const ros::TimerEvent & timer_event )

private

Sets CameraCommander current state

Parameters

[in] timer_event ROS TimerEvent object

Returns: void

Definition at line 256 of file camera_commander.cpp.

bool hfl::CameraCommander::setFlash ( )

private

Loads the HFL camera instace accordingly to the launch parameters

Returns: bool true if flash loading succed

Definition at line 221 of file camera_commander.cpp.

void hfl::CameraCommander::sliceDataCallback ( const udp_com::UdpPacket & udp_packet )

private

Callback for slice data UDP packets

Receives the slice data messages for parsing through IP addresses validation

Parameters

[in] udp_packet UDP packet message

Returns: void

Definition at line 447 of file camera_commander.cpp.

void hfl::CameraCommander::teleDataCallback ( const udp_com::UdpPacket & udp_packet )

private

Callback for telemetry data UDP packets

Receives the telemetry data messages for parsing through IP addresses validation

Parameters

[in] udp_packet UDP packet message

Returns: void

Definition at line 427 of file camera_commander.cpp.

bool hfl::CameraCommander::udpInit ( )

Initialize UDP topics and services

Returns: void

Definition at line 105 of file camera_commander.cpp.

Member Data Documentation

std::string hfl::CameraCommander::camera_address_

private

IP Address of sensor.

Definition at line 166 of file camera_commander.h.

std::string hfl::CameraCommander::computer_address_

private

IP Address of computer.

Definition at line 169 of file camera_commander.h.

commander_states hfl::CameraCommander::current_state_

private

Commander current state.

Definition at line 154 of file camera_commander.h.

std::shared_ptr<dynamic_reconfigure::Server<hfl_driver::HFLConfig> > hfl::CameraCommander::dynamic_parameters_server_

private

Dynamic Reconfigure server.

Definition at line 148 of file camera_commander.h.

error_codes hfl::CameraCommander::error_status_

private

Error Status.

Definition at line 160 of file camera_commander.h.

std::string hfl::CameraCommander::ethernet_interface_

private

Ethernet Interface.

Definition at line 163 of file camera_commander.h.

std::shared_ptr<hfl::HflInterface> hfl::CameraCommander::flash_

private

Pointer to Flash camera.

Definition at line 187 of file camera_commander.h.

int hfl::CameraCommander::frame_data_port_

private

Frame Data UDP port.

Definition at line 172 of file camera_commander.h.

ros::Subscriber hfl::CameraCommander::frame_data_subscriber_

private

UDP Frame Data subscriber.

Definition at line 127 of file camera_commander.h.

std::string hfl::CameraCommander::namespace_

private

Namespace.

Definition at line 124 of file camera_commander.h.

ros::NodeHandle hfl::CameraCommander::node_handler_

private

Node Handle.

Definition at line 121 of file camera_commander.h.

int hfl::CameraCommander::object_data_port_

private

Object Data UDP port.

Definition at line 178 of file camera_commander.h.

ros::Subscriber hfl::CameraCommander::object_data_subscriber_

private

UDP Object Data Subscriber.

Definition at line 133 of file camera_commander.h.

int hfl::CameraCommander::pdm_data_port_

private

PDM Data UDP port.

Definition at line 175 of file camera_commander.h.

ros::Subscriber hfl::CameraCommander::pdm_data_subscriber_

private

UDP PDM Data Subscriber.

Definition at line 130 of file camera_commander.h.

commander_states hfl::CameraCommander::previous_state_

private

Commander Previous state prior to error.

Definition at line 157 of file camera_commander.h.

int hfl::CameraCommander::slice_data_port_

private

Slice Data UDP port.

Definition at line 184 of file camera_commander.h.

ros::Subscriber hfl::CameraCommander::slice_data_subscriber_

private

UDP Slice Data Subscriber.

Definition at line 139 of file camera_commander.h.

int hfl::CameraCommander::tele_data_port_

private

Telemetry Data UDP port.

Definition at line 181 of file camera_commander.h.

ros::Subscriber hfl::CameraCommander::tele_data_subscriber_

private

UDP Telemetry Data Subscriber.

Definition at line 136 of file camera_commander.h.

ros::Timer hfl::CameraCommander::timer_

private

Status checker timer.

Definition at line 151 of file camera_commander.h.

ros::ServiceClient hfl::CameraCommander::udp_send_service_client_

private

UDP send service client.

Definition at line 142 of file camera_commander.h.

ros::ServiceClient hfl::CameraCommander::udp_socket_creation_service_client_

private

UDP socket service client.

Definition at line 145 of file camera_commander.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation