SpinnakerCamera.h

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/*
This code was developed by the National Robotics Engineering Center (NREC), part of the Robotics Institute at Carnegie
Mellon University.
Its development was funded by DARPA under the LS3 program and submitted for public release on June 7th, 2012.
Release was granted on August, 21st 2012 with Distribution Statement "A" (Approved for Public Release, Distribution
Unlimited).
 
This software is released under a BSD license:
 
Copyright (c) 2012, Carnegie Mellon University. All rights reserved.
Copyright (c) 2018, Clearpath Robotics, Inc., All rights reserved.
 
Redistribution and use in source and binary forms, with or without modification, are permitted provided that the
following conditions are met:
 
Redistributions of source code must retain the above copyright notice, this list of conditions and the following
disclaimer.
Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following
disclaimer in the documentation and/or other materials provided with the distribution.
Neither the name of the Carnegie Mellon University nor the names of its contributors may be used to endorse or promote
products derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF
THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
 
/*-*-C++-*-*/
#ifndef SPINNAKER_CAMERA_DRIVER_SPINNAKERCAMERA_H
#define SPINNAKER_CAMERA_DRIVER_SPINNAKERCAMERA_H
 
#include <sensor_msgs/Image.h>            // ROS message header for Image
#include <sensor_msgs/image_encodings.h>  // ROS header for the different supported image encoding types
#include <sensor_msgs/fill_image.h>
#include <spinnaker_camera_driver/camera_exceptions.h>
 
#include <memory>
#include <mutex>
#include <sstream>
#include <string>
 
// Header generated by dynamic_reconfigure
#include <spinnaker_camera_driver/SpinnakerConfig.h>
#include "spinnaker_camera_driver/camera.h"
#include "spinnaker_camera_driver/cm3.h"
#include "spinnaker_camera_driver/gh3.h"
#include "spinnaker_camera_driver/set_property.h"
 
// Spinnaker SDK
#include "Spinnaker.h"
#include "SpinGenApi/SpinnakerGenApi.h"
 
namespace spinnaker_camera_driver
{
class SpinnakerCamera
{
public:
  SpinnakerCamera();
  ~SpinnakerCamera();
 
  void setNewConfiguration(const spinnaker_camera_driver::SpinnakerConfig& config, const uint32_t& level);
 
  static const uint8_t LEVEL_RECONFIGURE_CLOSE = 3;
 
  static const uint8_t LEVEL_RECONFIGURE_STOP = 1;
 
  static const uint8_t LEVEL_RECONFIGURE_RUNNING = 0;
 
  void connect();
 
  void disconnect();
 
  void start();
 
  void stop();
 
  void grabImage(sensor_msgs::Image* image, const std::string& frame_id);
 
  // TODO(mhosmar): Implement later
  void setTimeout(const double& timeout);
 
  void setDesiredCamera(const uint32_t& id);
 
  void setGain(const float& gain);
  int getHeightMax();
  int getWidthMax();
  bool readableProperty(const Spinnaker::GenICam::gcstring property_name);
  Spinnaker::GenApi::CNodePtr readProperty(const Spinnaker::GenICam::gcstring property_name);
 
  uint32_t getSerial()
  {
    return serial_;
  }
 
private:
  uint32_t serial_;  
 
  Spinnaker::SystemPtr system_;
  Spinnaker::CameraList camList_;
  Spinnaker::CameraPtr pCam_;
 
  // TODO(mhosmar) use std::shared_ptr
  Spinnaker::GenApi::INodeMap* node_map_;
  std::shared_ptr<Camera> camera_;
 
  Spinnaker::ChunkData image_metadata_;
 
  std::mutex mutex_;  
  volatile bool captureRunning_;  
 
  bool isColor_;
 
  // For GigE cameras:
  bool auto_packet_size_;
  unsigned int packet_size_;
  unsigned int packet_delay_;
 
  uint64_t timeout_;
 
  // This function configures the camera to add chunk data to each image. It does
  // this by enabling each type of chunk data before enabling chunk data mode.
  // When chunk data is turned on, the data is made available in both the nodemap
  // and each image.
  void ConfigureChunkData(const Spinnaker::GenApi::INodeMap& nodeMap);
};
}  // namespace spinnaker_camera_driver
#endif  // SPINNAKER_CAMERA_DRIVER_SPINNAKERCAMERA_H