IRI ROS Specific Driver Class. More...

#include <bumblebee2_driver.h>

Inheritance diagram for Bumblebee2Driver:

Public Types
typedef iri_bumblebee2::Bumblebee2Config	Config
	define config type
Public Member Functions
	Bumblebee2Driver (void)
	constructor
bool	closeDriver (void)
	close driver
void	config_update (Config &new_cfg, uint32_t level=0)
	config update
void	get_calibration_files (std::vector< std::string > &calibration_files)
void	get_current_config (TCameraConfig *current_conf)
void	get_frame_ids (std::vector< std::string > &frame_ids)
void	get_images (char left_image, char right_image)
std::string	get_new_frame_event (void)
bool	openDriver (void)
	open driver
bool	startDriver (void)
	start driver
bool	stopDriver (void)
	stop driver
	~Bumblebee2Driver (void)
	Destructor.
Public Attributes
Config	config_
	config variable
Protected Member Functions
void	change_config (TCameraConfig *new_conf)
Private Attributes
std::vector< std::string >	calibration_files
CBumblebee *	camera
uint64_t	camera_id
TCameraConfig	current_conf
TCameraConfig	default_conf
TCameraConfig	desired_conf
std::vector< std::string >	frame_ids
CFirewireServer *	server

Detailed Description

IRI ROS Specific Driver Class.

This class inherits from the IRI Base class IriBaseDriver, which provides the guidelines to implement any specific driver. The IriBaseDriver class offers an easy framework to integrate functional drivers implemented in C++ with the ROS driver structure. ROS driver_base state transitions are already managed by IriBaseDriver.

The Bumblebee2Driver class must implement all specific driver requirements to safetely open, close, run and stop the driver at any time. It also must guarantee an accessible interface for all driver's parameters.

The Bumblebee2Config.cfg needs to be filled up with those parameters suitable to be changed dynamically by the ROS dyanmic reconfigure application. The implementation of the CIriNode class will manage those parameters through methods like postNodeOpenHook() and reconfigureNodeHook().

Definition at line 63 of file bumblebee2_driver.h.

Member Typedef Documentation

typedef iri_bumblebee2::Bumblebee2Config Bumblebee2Driver::Config

define config type

Define a Config type with the Bumblebee2Config. All driver implementations will then use the same variable type Config.

Definition at line 95 of file bumblebee2_driver.h.

Constructor & Destructor Documentation

Bumblebee2Driver::Bumblebee2Driver ( void )

constructor

In this constructor parameters related to the specific driver can be initalized. Those parameters can be also set in the openDriver() function. Attributes from the main node driver class IriBaseDriver such as loop_rate, may be also overload here.

Definition at line 3 of file bumblebee2_driver.cpp.

Bumblebee2Driver::~Bumblebee2Driver ( void )

Destructor.

This destructor is called when the object is about to be destroyed.

Definition at line 269 of file bumblebee2_driver.cpp.

Member Function Documentation

void Bumblebee2Driver::change_config ( TCameraConfig * new_conf ) [protected]

Definition at line 181 of file bumblebee2_driver.cpp.

bool Bumblebee2Driver::closeDriver ( void ) [virtual]

close driver

In this function, the driver must be closed. Variables related to the driver state must also be taken into account. This function is automatically called by IriBaseDriver::doClose(), an state transition is performed if return value equals true.

Returns:: bool successful

Implements iri_base_driver::IriBaseDriver.

Definition at line 70 of file bumblebee2_driver.cpp.

void Bumblebee2Driver::config_update	(	Config &	new_cfg,
		uint32_t	level = `0`
	)

config update

In this function the driver parameters must be updated with the input config variable. Then the new configuration state will be stored in the Config attribute.

Parameters:

new_cfg	the new driver configuration state
level	level in which the update is taken place

Definition at line 121 of file bumblebee2_driver.cpp.

void Bumblebee2Driver::get_calibration_files ( std::vector< std::string > & calibration_files )

Definition at line 255 of file bumblebee2_driver.cpp.

void Bumblebee2Driver::get_current_config ( TCameraConfig * current_conf )

Definition at line 226 of file bumblebee2_driver.cpp.

void Bumblebee2Driver::get_frame_ids ( std::vector< std::string > & frame_ids )

Definition at line 262 of file bumblebee2_driver.cpp.

void Bumblebee2Driver::get_images	(	char **	left_image,
		char **	right_image
	)

Definition at line 234 of file bumblebee2_driver.cpp.

std::string Bumblebee2Driver::get_new_frame_event ( void )

Definition at line 245 of file bumblebee2_driver.cpp.

bool Bumblebee2Driver::openDriver ( void ) [virtual]

open driver

In this function, the driver must be openned. Openning errors must be taken into account. This function is automatically called by IriBaseDriver::doOpen(), an state transition is performed if return value equals true.

Returns:: bool successful

Implements iri_base_driver::IriBaseDriver.

Definition at line 40 of file bumblebee2_driver.cpp.

bool Bumblebee2Driver::startDriver ( void ) [virtual]

start driver

After this function, the driver and its thread will be started. The driver and related variables should be properly setup. This function is automatically called by IriBaseDriver::doStart(), an state transition is performed if return value equals true.

Returns:: bool successful

Implements iri_base_driver::IriBaseDriver.

Definition at line 81 of file bumblebee2_driver.cpp.

bool Bumblebee2Driver::stopDriver ( void ) [virtual]

stop driver

After this function, the driver's thread will stop its execution. The driver and related variables should be properly setup. This function is automatically called by IriBaseDriver::doStop(), an state transition is performed if return value equals true.