WGE100CameraDriver Class Reference

Inheritance diagram for WGE100CameraDriver:

Classes
struct	ImagerSettings

Public Types
typedef wge100_camera::WGE100CameraConfig	Config
Public Types inherited from driver_base::Driver
typedef char	state_t

Public Member Functions
void	config_update (const Config &new_cfg, uint32_t level=0)
void	doClose ()
void	doOpen ()
void	doStart ()
void	doStop ()
int	get_rmem_max ()
std::string	getID ()
int	setTestMode (uint16_t mode, diagnostic_updater::DiagnosticStatusWrapper &status)
	WGE100CameraDriver ()
	~WGE100CameraDriver ()
Public Member Functions inherited from driver_base::Driver
void	clearRecoveryComplete ()
bool	close ()
	Driver ()
bool	getRecoveryComplete ()
state_t	getState ()
const std::string	getStateName ()
const std::string	getStatusMessage ()
bool	getStatusOk ()
bool	goClosed ()
bool	goOpened ()
bool	goRunning ()
bool	goState (state_t target)
bool	isClosed ()
bool	isOpened ()
bool	isRunning ()
bool	isStopped ()
bool	lowerState (state_t target)
bool	open ()
bool	raiseState (state_t target)
void	setPostOpenHook (hookFunction f)
void	setStatusMessage (const std::string &msg, bool ok=false, bool recovery_complete=false)
void	setStatusMessagef (const char *format,...)
bool	start ()
bool	stop ()
virtual	~Driver ()

Public Attributes
Config	config_
Public Attributes inherited from driver_base::Driver
boost::recursive_mutex	mutex_

Private Types
typedef boost::function< int(size_t, size_t, uint8_t *, ros::Time, bool)>	UseFrameFunction

Private Member Functions
bool	boardConfig (wge100_camera::BoardConfig::Request &req, wge100_camera::BoardConfig::Response &rsp)
void	cameraStatus (diagnostic_updater::DiagnosticStatusWrapper &stat)
int	frameHandler (wge100FrameInfo *frame_info)
double	getExternallyTriggeredFrameTime (double firstPacketTime)
double	getFreeRunningFrameTime (double firstPacketTime)
double	getTriggeredFrameTime (double firstPacketTime)
void	imageThread ()
uint16_t	intrinsicsChecksum (uint16_t *data, int words)
bool	isColor ()
bool	loadIntrinsics (sensor_msgs::CameraInfo &cam_info)
bool	saveIntrinsics (const sensor_msgs::CameraInfo &cam_info)
int	setImagerSettings (MT9VImager &imager, ImagerSettings &cfg)

Static Private Member Functions
static int	frameHandler (wge100FrameInfo *frameInfo, void *userData)

Private Attributes
MT9VImagerPtr	alternate_imager_
IpCamList	camera_
double	desired_freq_
double	driver_start_time_
bool	dropped_packet_event_
int	dropped_packets_
bool	enable_alternate_
bool	enable_primary_
bool	first_frame_
FrameTimeFilter	frame_time_filter_
std::string	hwinfo_
std::string	image_encoding_
boost::shared_ptr< boost::thread >	image_thread_
MT9VImagerPtr	imager_
double	last_camera_ok_time_
unsigned int	last_frame_number_
double	last_image_time_
unsigned int	last_partial_frame_number_
in_addr	localIp_
sockaddr	localMac_
int	lost_image_thread_count_
int	massive_frame_losses_
int	missed_eof_count_
int	missed_line_count_
bool	next_is_alternate_
SlowTriggerFilter	no_timestamp_warning_filter_
int	rmem_max_
ros::ServiceClient	trig_service_
timestamp_tools::TriggerMatcher	trigger_matcher_
int	trigger_matcher_drop_count_
UseFrameFunction	useFrame_

Friends
class	WGE100CameraNode

Additional Inherited Members
Static Public Member Functions inherited from driver_base::Driver
static const std::string &	getStateName (state_t s)
Static Public Attributes inherited from driver_base::Driver
static const state_t	CLOSED
static const state_t	OPENED
static const state_t	RUNNING
Protected Types inherited from driver_base::Driver
typedef boost::function< void() >	hookFunction
Protected Attributes inherited from driver_base::Driver
hookFunction	postOpenHook
state_t	state_

Detailed Description

Definition at line 288 of file wge100_camera_node.cpp.

Member Typedef Documentation

typedef wge100_camera::WGE100CameraConfig WGE100CameraDriver::Config

Definition at line 293 of file wge100_camera_node.cpp.

typedef boost::function<int(size_t, size_t, uint8_t*, ros::Time, bool)> WGE100CameraDriver::UseFrameFunction

private

Definition at line 341 of file wge100_camera_node.cpp.

Constructor & Destructor Documentation

WGE100CameraDriver::WGE100CameraDriver ( )

inline

Definition at line 433 of file wge100_camera_node.cpp.

WGE100CameraDriver::~WGE100CameraDriver ( )

inline

Definition at line 500 of file wge100_camera_node.cpp.

Member Function Documentation

bool WGE100CameraDriver::boardConfig ( wge100_camera::BoardConfig::Request &  req, wge100_camera::BoardConfig::Response &  rsp  )

inlineprivate

Definition at line 1189 of file wge100_camera_node.cpp.

void WGE100CameraDriver::cameraStatus ( diagnostic_updater::DiagnosticStatusWrapper &  stat )

inlineprivate

Definition at line 839 of file wge100_camera_node.cpp.

void WGE100CameraDriver::config_update ( const Config &  new_cfg, uint32_t  level = 0  )

inline

Todo:

add more checks here for video mode and image offset.

Definition at line 453 of file wge100_camera_node.cpp.

void WGE100CameraDriver::doClose ( )

inlinevirtual

Implements driver_base::Driver.

Definition at line 704 of file wge100_camera_node.cpp.

void WGE100CameraDriver::doOpen ( )

inlinevirtual

Implements driver_base::Driver.

Definition at line 516 of file wge100_camera_node.cpp.

void WGE100CameraDriver::doStart ( )

inlinevirtual

Implements driver_base::Driver.

Definition at line 712 of file wge100_camera_node.cpp.

void WGE100CameraDriver::doStop ( )

inlinevirtual

Todo:

race condition here. Need to think more.

Implements driver_base::Driver.

Definition at line 750 of file wge100_camera_node.cpp.

int WGE100CameraDriver::frameHandler ( wge100FrameInfo *  frame_info )

inlineprivate

Do we want to support rates less than 1 Hz?

Todo:

Could a deadlock happen here if the thread is

Definition at line 968 of file wge100_camera_node.cpp.

static int WGE100CameraDriver::frameHandler ( wge100FrameInfo *  frameInfo, void *  userData  )

inlinestaticprivate

Definition at line 1106 of file wge100_camera_node.cpp.

int WGE100CameraDriver::get_rmem_max ( )

inline

Definition at line 506 of file wge100_camera_node.cpp.

double WGE100CameraDriver::getExternallyTriggeredFrameTime ( double  firstPacketTime )

inlineprivate

Definition at line 931 of file wge100_camera_node.cpp.

double WGE100CameraDriver::getFreeRunningFrameTime ( double  firstPacketTime )

inlineprivate

Definition at line 944 of file wge100_camera_node.cpp.

std::string WGE100CameraDriver::getID ( )

inlinevirtual

Implements driver_base::Driver.

Definition at line 806 of file wge100_camera_node.cpp.

double WGE100CameraDriver::getTriggeredFrameTime ( double  firstPacketTime )

inlineprivate

Definition at line 911 of file wge100_camera_node.cpp.

void WGE100CameraDriver::imageThread ( )

inlineprivate

Definition at line 815 of file wge100_camera_node.cpp.

uint16_t WGE100CameraDriver::intrinsicsChecksum ( uint16_t *  data, int  words  )

inlineprivate

Definition at line 1112 of file wge100_camera_node.cpp.

bool WGE100CameraDriver::isColor ( )

inlineprivate

Definition at line 1097 of file wge100_camera_node.cpp.

bool WGE100CameraDriver::loadIntrinsics ( sensor_msgs::CameraInfo &  cam_info )

inlineprivate

Definition at line 1120 of file wge100_camera_node.cpp.

bool WGE100CameraDriver::saveIntrinsics ( const sensor_msgs::CameraInfo &  cam_info )

inlineprivate

Definition at line 1153 of file wge100_camera_node.cpp.

int WGE100CameraDriver::setImagerSettings ( MT9VImager &  imager, ImagerSettings &  cfg  )

inlineprivate

Definition at line 369 of file wge100_camera_node.cpp.

int WGE100CameraDriver::setTestMode ( uint16_t  mode, diagnostic_updater::DiagnosticStatusWrapper &  status  )

inline

Definition at line 769 of file wge100_camera_node.cpp.

Friends And Related Function Documentation

friend class WGE100CameraNode

friend

Definition at line 290 of file wge100_camera_node.cpp.

Member Data Documentation

MT9VImagerPtr WGE100CameraDriver::alternate_imager_

private

Definition at line 329 of file wge100_camera_node.cpp.

IpCamList WGE100CameraDriver::camera_

private

Definition at line 327 of file wge100_camera_node.cpp.

Config WGE100CameraDriver::config_

Definition at line 294 of file wge100_camera_node.cpp.

double WGE100CameraDriver::desired_freq_

private

Definition at line 301 of file wge100_camera_node.cpp.

double WGE100CameraDriver::driver_start_time_

private

Definition at line 312 of file wge100_camera_node.cpp.

bool WGE100CameraDriver::dropped_packet_event_

private

Definition at line 308 of file wge100_camera_node.cpp.

int WGE100CameraDriver::dropped_packets_

private

Definition at line 306 of file wge100_camera_node.cpp.

bool WGE100CameraDriver::enable_alternate_

private

Definition at line 334 of file wge100_camera_node.cpp.

bool WGE100CameraDriver::enable_primary_

private

Definition at line 335 of file wge100_camera_node.cpp.

bool WGE100CameraDriver::first_frame_

private

Definition at line 333 of file wge100_camera_node.cpp.

FrameTimeFilter WGE100CameraDriver::frame_time_filter_

private

Definition at line 318 of file wge100_camera_node.cpp.

std::string WGE100CameraDriver::hwinfo_

private

Definition at line 326 of file wge100_camera_node.cpp.

std::string WGE100CameraDriver::image_encoding_

private

Definition at line 331 of file wge100_camera_node.cpp.

boost::shared_ptr<boost::thread> WGE100CameraDriver::image_thread_

private

Definition at line 338 of file wge100_camera_node.cpp.

MT9VImagerPtr WGE100CameraDriver::imager_

private

Definition at line 328 of file wge100_camera_node.cpp.

double WGE100CameraDriver::last_camera_ok_time_

private

Definition at line 330 of file wge100_camera_node.cpp.

unsigned int WGE100CameraDriver::last_frame_number_

private

Definition at line 313 of file wge100_camera_node.cpp.

double WGE100CameraDriver::last_image_time_

private

Definition at line 311 of file wge100_camera_node.cpp.

unsigned int WGE100CameraDriver::last_partial_frame_number_

private

Definition at line 314 of file wge100_camera_node.cpp.

in_addr WGE100CameraDriver::localIp_

private

Definition at line 323 of file wge100_camera_node.cpp.

sockaddr WGE100CameraDriver::localMac_

private

Definition at line 322 of file wge100_camera_node.cpp.

int WGE100CameraDriver::lost_image_thread_count_

private

Definition at line 315 of file wge100_camera_node.cpp.

int WGE100CameraDriver::massive_frame_losses_

private

Definition at line 307 of file wge100_camera_node.cpp.

int WGE100CameraDriver::missed_eof_count_

private

Definition at line 305 of file wge100_camera_node.cpp.

int WGE100CameraDriver::missed_line_count_

private

Definition at line 309 of file wge100_camera_node.cpp.

bool WGE100CameraDriver::next_is_alternate_

private

Definition at line 332 of file wge100_camera_node.cpp.

SlowTriggerFilter WGE100CameraDriver::no_timestamp_warning_filter_

private

Definition at line 966 of file wge100_camera_node.cpp.

int WGE100CameraDriver::rmem_max_

private

Definition at line 304 of file wge100_camera_node.cpp.

ros::ServiceClient WGE100CameraDriver::trig_service_

private

Definition at line 298 of file wge100_camera_node.cpp.

timestamp_tools::TriggerMatcher WGE100CameraDriver::trigger_matcher_

private

Definition at line 319 of file wge100_camera_node.cpp.

int WGE100CameraDriver::trigger_matcher_drop_count_

private

Definition at line 310 of file wge100_camera_node.cpp.

UseFrameFunction WGE100CameraDriver::useFrame_

private

Definition at line 342 of file wge100_camera_node.cpp.

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

• wge100_camera_node.cpp