Class CStCameraBase

Defined in File stcamera_base.hpp

Inheritance Relationships

Base Type

public rclcpp::Node

Derived Type

public stcamera::CStCamera (Class CStCamera)

Class Documentation

class CStCameraBase : public rclcpp::Node

Subclassed by stcamera::CStCamera

Public Functions

CStCameraBase(const std::string &camera_name_space, const rclcpp::NodeOptions &options = rclcpp::NodeOptions())

CStCameraBase(const std::string &camera_name_space, const std::string &name_space, const rclcpp::NodeOptions &options = rclcpp::NodeOptions())

virtual ~CStCameraBase()

void init()

EOSError_t enableChunk(const std::string &chunk_name, bool value)

EOSError_t enableEventAcquisition(const std::string &genicam_module, bool value)

EOSError_t enableEventNode(const std::string &genicam_module, const std::string &genicam_event, const std::string &genicam_node, bool value, const std::string &topic = "")

EOSError_t enableImageAcquisition(bool value)

EOSError_t enableTrigger(const std::string &trigger_selector, const std::string &trigger_source, bool enabled, double delay = 0)

EOSError_t executeNode(const std::string &genicam_module, const std::string &genicam_node)

EOSError_t getChunkList(std::vector<std::string> &chunk_name_list, std::vector<bool> &chunk_enabled_list)

EOSError_t getEnumList(const std::string &genicam_module, const std::string &genicam_node, std::vector<std::string> &enum_value_str_list, std::vector<std::string> &enum_node_list, std::vector<int64_t> &enum_value_int_list)

EOSError_t getEventAcquisitionStatusList(std::vector<std::string> &genicam_module_list, std::vector<bool> &enabled_list)

EOSError_t getEventNodeStatusList(const std::string &genicam_module, std::vector<stcamera_msgs::msg::GenICamEvent> &event_node_list)

EOSError_t getGenICamNodeInfo(const std::string &genicam_module, const std::string &genicam_node, stcamera_msgs::srv::GetGenICamNodeInfo::Response &res)

EOSError_t getImageAcquisitionStatus(bool &value)

EOSError_t getTriggerList(std::vector<std::string> &trigger_selector_list, std::vector<bool> &trigger_mode_list, std::vector<std::string> &trigger_source_list, std::vector<double> &trigger_delayus_list)

EOSError_t readNode(const std::string &genicam_module, const std::string &genicam_node, std::string &value, std::string &interface_type)

EOSError_t readNodeBool(const std::string &genicam_module, const std::string &genicam_node, bool &value)

EOSError_t readNodeEnum(const std::string &genicam_module, const std::string &genicam_node, std::string &value_str, int64_t &value_int)

EOSError_t readNodeFloat(const std::string &genicam_module, const std::string &genicam_node, double &value)

EOSError_t readNodeInt(const std::string &genicam_module, const std::string &genicam_node, int64_t &value)

EOSError_t readNodePort(const std::string &genicam_module, const std::string &genicam_node, int64_t address, int64_t length, std::vector<uint8_t> &data)

EOSError_t readNodeRegister(const std::string &genicam_module, const std::string &genicam_node, int64_t length, std::vector<uint8_t> &data)

EOSError_t readNodeRegisterInfo(const std::string &genicam_module, const std::string &genicam_node, int64_t &address, int64_t &length)

EOSError_t readNodeString(const std::string &genicam_module, const std::string &genicam_node, std::string &value)

EOSError_t sendSoftTrigger(std::shared_ptr<rclcpp::Node> nh, const std::string &trigger_selector)

EOSError_t writeNode(const std::string &genicam_module, const std::string &genicam_node, const std::string &value)

EOSError_t writeNodeBool(const std::string &genicam_module, const std::string &genicam_node, bool value)

EOSError_t writeNodeEnumInt(const std::string &genicam_module, const std::string &genicam_node, int64_t value)

EOSError_t writeNodeEnumStr(const std::string &genicam_module, const std::string &genicam_node, const std::string &value)

EOSError_t writeNodeFloat(const std::string &genicam_module, const std::string &genicam_node, double value)

EOSError_t writeNodeInt(const std::string &genicam_module, const std::string &genicam_node, int64_t value)

EOSError_t writeNodePort(const std::string &genicam_module, const std::string &genicam_node, int64_t address, int64_t length, const std::vector<uint8_t> &data)

EOSError_t writeNodeRegister(const std::string &genicam_module, const std::string &genicam_node, int64_t length, const std::vector<uint8_t> &data)

EOSError_t writeNodeString(const std::string &genicam_module, const std::string &genicam_node, const std::string &value)

EOSError_t readNodeFloatRange(const std::string &genicam_module, const std::string &genicam_node, double &value_min, double &value_max)

EOSError_t readNodeIntRange(const std::string &genicam_module, const std::string &genicam_node, int64_t &value_min, int64_t &value_max)

EOSError_t setImageAcquisition(bool enabled)

inline void imageCallback(sensor_msgs::msg::Image::SharedPtr msg)

inline void chunkCallback(stcamera_msgs::msg::Chunk::SharedPtr msg)

inline void eventCallback(stcamera_msgs::msg::Event::SharedPtr msg)

Protected Functions

template<typename service_t, typename value_t> EOSError_t readNodeValue(const std::string &genicam_module, const std::string &genicam_node, value_t &value, const std::string &service_name)

template<typename service_t, typename value_t> EOSError_t writeNodeValue(const std::string &genicam_module, const std::string &genicam_node, value_t &value, const std::string &service_name)

inline std::shared_ptr<rclcpp::Node> GetPtr()

virtual void onRcvImage(sensor_msgs::msg::Image::SharedPtr msg) = 0

virtual void onRcvChunk(stcamera_msgs::msg::Chunk::SharedPtr msg) = 0

virtual void onRcvEvent(stcamera_msgs::msg::Event::SharedPtr msg) = 0

Protected Attributes

const std::string camera_name_space_

rclcpp::Subscription<sensor_msgs::msg::Image>::SharedPtr image_subscriber_

rclcpp::Subscription<stcamera_msgs::msg::Chunk>::SharedPtr chunk_subscriber_

rclcpp::Subscription<stcamera_msgs::msg::Event>::SharedPtr event_subscriber_

int sent_triggers_

rclcpp::TimerBase::SharedPtr trigger_timer_