#include <driver1394.h>

Public Member Functions
	Camera1394Driver (ros::NodeHandle priv_nh, ros::NodeHandle camera_nh)
void	poll (void)
void	setup (void)
void	shutdown (void)
	~Camera1394Driver ()
Static Public Attributes
static const uint8_t	CLOSED = 0
static const uint8_t	OPENED = 1
static const uint8_t	RUNNING = 2
Private Member Functions
void	closeCamera ()
bool	getCameraRegisters (camera1394::GetCameraRegisters::Request &request, camera1394::GetCameraRegisters::Response &response)
bool	openCamera (Config &newconfig)
void	publish (const sensor_msgs::ImagePtr &image)
bool	read (sensor_msgs::ImagePtr &image)
void	reconfig (camera1394::Camera1394Config &newconfig, uint32_t level)
bool	setCameraRegisters (camera1394::SetCameraRegisters::Request &request, camera1394::SetCameraRegisters::Response &response)
Private Attributes
bool	calibration_matches_
std::string	camera_name_
ros::NodeHandle	camera_nh_
boost::shared_ptr < camera_info_manager::CameraInfoManager >	cinfo_
camera1394::Camera1394Config	config_
uint32_t	consecutive_read_errors_
ros::Rate	cycle_
boost::shared_ptr < camera1394::Camera1394 >	dev_
diagnostic_updater::Updater	diagnostics_
ros::ServiceServer	get_camera_registers_srv_
image_transport::CameraPublisher	image_pub_
boost::shared_ptr < image_transport::ImageTransport >	it_
boost::mutex	mutex_
ros::NodeHandle	priv_nh_
volatile bool	reconfiguring_
uint32_t	retries_
ros::ServiceServer	set_camera_registers_srv_
dynamic_reconfigure::Server < camera1394::Camera1394Config >	srv_
volatile uint8_t	state_
diagnostic_updater::TopicDiagnostic	topic_diagnostics_
double	topic_diagnostics_max_freq_
double	topic_diagnostics_min_freq_

Detailed Description

Definition at line 75 of file driver1394.h.

Constructor & Destructor Documentation

camera1394_driver::Camera1394Driver::Camera1394Driver	(	ros::NodeHandle	priv_nh,
		ros::NodeHandle	camera_nh
	)

Definition at line 67 of file driver1394.cpp.

camera1394_driver::Camera1394Driver::~Camera1394Driver ( )

Definition at line 99 of file driver1394.cpp.

Member Function Documentation

void camera1394_driver::Camera1394Driver::closeCamera ( ) [private]

Close camera device

postcondition: state_ is Driver::CLOSED

Definition at line 106 of file driver1394.cpp.

bool camera1394_driver::Camera1394Driver::getCameraRegisters	(	camera1394::GetCameraRegisters::Request &	request,
		camera1394::GetCameraRegisters::Response &	response
	)		`[private]`

Callback for getting camera control and status registers (CSR)

Definition at line 407 of file driver1394.cpp.

bool camera1394_driver::Camera1394Driver::openCamera ( Config & newconfig ) [private]

Open the camera device.

Parameters:

newconfig configuration parameters

Returns:: true, if successful

Postcondition:: diagnostics frequency parameters set

if successful: state_ is Driver::OPENED camera_name_ set to GUID string GUID configuration parameter updated

Definition at line 128 of file driver1394.cpp.

void camera1394_driver::Camera1394Driver::poll ( void )

device poll

Definition at line 183 of file driver1394.cpp.

void camera1394_driver::Camera1394Driver::publish ( const sensor_msgs::ImagePtr & image ) [private]

Publish camera stream topics

Parameters:

image points to latest camera frame

Definition at line 235 of file driver1394.cpp.

bool camera1394_driver::Camera1394Driver::read ( sensor_msgs::ImagePtr & image ) [private]

Read camera data.

Parameters:

image points to camera Image message

Returns:: true if successful, with image filled in

Definition at line 288 of file driver1394.cpp.

void camera1394_driver::Camera1394Driver::reconfig	(	camera1394::Camera1394Config &	newconfig,
		uint32_t	level
	)		`[private]`

Dynamic reconfigure callback

Called immediately when callback first defined. Called again when dynamic reconfigure starts or changes a parameter value.

Parameters:

newconfig	new Config values
level	bit-wise OR of reconfiguration levels for all changed parameters (0xffffffff on initial call)

Definition at line 316 of file driver1394.cpp.

bool camera1394_driver::Camera1394Driver::setCameraRegisters	(	camera1394::SetCameraRegisters::Request &	request,
		camera1394::SetCameraRegisters::Response &	response
	)		`[private]`

Callback for setting camera control and status registers (CSR)

Definition at line 467 of file driver1394.cpp.

void camera1394_driver::Camera1394Driver::setup ( void )

driver initialization

Define dynamic reconfigure callback, which gets called immediately with level 0xffffffff. The reconfig() method will set initial parameter values, then open the device if it can.

Definition at line 394 of file driver1394.cpp.

void camera1394_driver::Camera1394Driver::shutdown ( void )

driver termination

Definition at line 401 of file driver1394.cpp.