Class implementation for stcamera_node. More...

#include <stcamera_node.h>

Public Member Functions
virtual void	init ()

virtual void	spin ()

	StCameraNode ()

	StCameraNode (ros::NodeHandle nh)

virtual	~StCameraNode ()

Protected Member Functions
bool	getDeviceListCallback (omronsentech_camera::GetDeviceList::Request &req, omronsentech_camera::GetDeviceList::Response &res)

bool	getGigEIPCallback (omronsentech_camera::GetGigEIPi::Request &req, omronsentech_camera::GetGigEIPi::Response &res)

bool	getModuleListCallback (omronsentech_camera::GetModuleList::Request &req, omronsentech_camera::GetModuleList::Response &res)

bool	getSDKInfoCallback (omronsentech_camera::GetSDKInfo::Request &req, omronsentech_camera::GetSDKInfo::Response &res)

bool	initializeCamera (StApi::IStInterface p_iface, const StApi::IStDeviceInfo p_devinfo)

bool	setGigEIPCallback (omronsentech_camera::SetGigEIPi::Request &req, omronsentech_camera::SetGigEIPi::Response &res)

Protected Attributes
MapCameraInterface	map_camera_

MapDeviceConnection	map_connection_

ros::Publisher	msg_device_connection_

ros::NodeHandle	nh_

StParameter	param_

ros::ServiceServer	srv_get_device_list_

ros::ServiceServer	srv_get_gige_ip_i_

ros::ServiceServer	srv_get_module_list_

ros::ServiceServer	srv_get_sdk_info_

ros::ServiceServer	srv_set_gige_ip_i_

StApi::CStApiAutoInit	stapi_autoinit_

StApi::CIStSystemPtrArray	stapi_systems_

Private Member Functions
omronsentech_camera::DeviceConnection	fillDeviceConnectionData (const StApi::IStSystemInfo p_tlinfo, StApi::IStInterface p_iface, const StApi::IStDeviceInfo *p_devinfo, std::string device_namespace="", bool connected=false)

Private Attributes
std::mutex	mtx_map_camera_

std::mutex	mtx_update_device_list_

Detailed Description

Class implementation for stcamera_node.

This class implements the stcamera_node.

Definition at line 64 of file stcamera_node.h.

Constructor & Destructor Documentation

stcamera::StCameraNode::StCameraNode ( )

Default Constructor.

Definition at line 57 of file stcamera_node.cpp.

stcamera::StCameraNode::StCameraNode ( ros::NodeHandle nh )

Constructor with parent node. This constructor is used by Nodelet.

Parameters

[in] nh Parent node.

Definition at line 80 of file stcamera_node.cpp.

stcamera::StCameraNode::~StCameraNode ( )

virtual

Destructor.

Definition at line 103 of file stcamera_node.cpp.

Member Function Documentation

omronsentech_camera::DeviceConnection stcamera::StCameraNode::fillDeviceConnectionData	(	const StApi::IStSystemInfo *	p_tlinfo,
		StApi::IStInterface *	p_iface,
		const StApi::IStDeviceInfo *	p_devinfo,
		std::string	device_namespace = `""`,
		bool	connected = `false`
	)

private

Helper function to fill the structure of DeviceConnection.

Parameters

[in]	p_tlinfo	Pointer to the IStSystemInfo of the device.
[in]	p_iface	Pointer to the IStInterface of the device.
[in]	p_devinfo	Pointer to the IStDeviceInfo of the device.
[in]	device_namespace	Namespace of the device.
[in]	connected	whether the device is connected or not.

Returns: Filled DeviceConnection.

Definition at line 567 of file stcamera_node.cpp.

bool stcamera::StCameraNode::getDeviceListCallback	(	omronsentech_camera::GetDeviceList::Request &	req,
		omronsentech_camera::GetDeviceList::Response &	res
	)

protected

ROS service callback for obtaining list of all detected devices including the disallowed camera to connect.

Parameters

[in]	req	ROS service request
[out]	res	ROS service response

Returns: Always true.

Definition at line 359 of file stcamera_node.cpp.

bool stcamera::StCameraNode::getGigEIPCallback	(	omronsentech_camera::GetGigEIPi::Request &	req,
		omronsentech_camera::GetGigEIPi::Response &	res
	)

protected

ROS service callback for obtaining IP address information of the given GigEVision camera which is not opened yet.

Parameters

[in]	req	ROS service request
[out]	res	ROS service response

Returns: True on success. False on failure.

Definition at line 446 of file stcamera_node.cpp.

bool stcamera::StCameraNode::getModuleListCallback	(	omronsentech_camera::GetModuleList::Request &	req,
		omronsentech_camera::GetModuleList::Response &	res
	)

protected

ROS service callback for obtaining all module name: System, Interface, LocalDevice, RemoteDevice, DataStream.

Parameters

[in]	req	ROS service request
[out]	res	ROS service response

Returns: Always true.

Definition at line 408 of file stcamera_node.cpp.

bool stcamera::StCameraNode::getSDKInfoCallback	(	omronsentech_camera::GetSDKInfo::Request &	req,
		omronsentech_camera::GetSDKInfo::Response &	res
	)

protected

ROS service callback for obtaining SentechSDK and GenTL information.

Parameters

[in]	req	ROS service request
[out]	res	ROS service response

Returns: Always true.

Definition at line 422 of file stcamera_node.cpp.

void stcamera::StCameraNode::init ( )

virtual

Initialization. This function is called by constructor. In the initialization, list of allowed camera to connect is retrieved and the GenTL modules are initialized.

Definition at line 118 of file stcamera_node.cpp.

bool stcamera::StCameraNode::initializeCamera	(	StApi::IStInterface *	p_iface,
		const StApi::IStDeviceInfo *	p_devinfo
	)

protected

Function to initialize a camera. In this function, whether connection to the given camera is allowed will be checked.

Parameters

[in]	p_iface	Pointer to the IStInterface of the camera.
[in]	p_devinfo	Pointer to the IStDeviceInfo of the device.

Returns: True if the camera is successfully initialized. False otherwise.

Definition at line 268 of file stcamera_node.cpp.

bool stcamera::StCameraNode::setGigEIPCallback	(	omronsentech_camera::SetGigEIPi::Request &	req,
		omronsentech_camera::SetGigEIPi::Response &	res
	)

protected

ROS service callback for assigning IP address to the given GigEVision camera which is not opened yet.

Parameters

[in]	req	ROS service request
[out]	res	ROS service response

Returns: True on success. False on failure.

Definition at line 509 of file stcamera_node.cpp.

void stcamera::StCameraNode::spin ( )

virtual

Function called inside process loop. In this function, device availability is checked. Any device lost will be announced through device_connection topic. Any new found device will be processed through calling initializeCamera() .

Definition at line 174 of file stcamera_node.cpp.

Member Data Documentation

MapCameraInterface stcamera::StCameraNode::map_camera_

protected

Store the list of allowed camera or connected camera and the corresponding instances.

Definition at line 160 of file stcamera_node.h.

MapDeviceConnection stcamera::StCameraNode::map_connection_

protected

Store the list of all detected camera (including disallowed to connect) and the camera information.

Definition at line 164 of file stcamera_node.h.

ros::Publisher stcamera::StCameraNode::msg_device_connection_

protected

Publisher for announcing any device lost or newly found device that is allowed to connect.

Definition at line 171 of file stcamera_node.h.

std::mutex stcamera::StCameraNode::mtx_map_camera_

private

Guard to prevent race when accessing map_camera_.

Definition at line 211 of file stcamera_node.h.

std::mutex stcamera::StCameraNode::mtx_update_device_list_

private

Guard to prevent race when looking for new devices.

Definition at line 208 of file stcamera_node.h.

ros::NodeHandle stcamera::StCameraNode::nh_

protected

Main node handle for stcamera_node

Definition at line 156 of file stcamera_node.h.

StParameter stcamera::StCameraNode::param_

protected

StParameter instance

Definition at line 167 of file stcamera_node.h.

ros::ServiceServer stcamera::StCameraNode::srv_get_device_list_

protected

Server for get_device_list

Definition at line 174 of file stcamera_node.h.

ros::ServiceServer stcamera::StCameraNode::srv_get_gige_ip_i_

protected

Server for get_gige_ip

Definition at line 180 of file stcamera_node.h.

ros::ServiceServer stcamera::StCameraNode::srv_get_module_list_

protected

Server for get_module_list

Definition at line 176 of file stcamera_node.h.

ros::ServiceServer stcamera::StCameraNode::srv_get_sdk_info_

protected

Server for get_sdk_info

Definition at line 178 of file stcamera_node.h.

ros::ServiceServer stcamera::StCameraNode::srv_set_gige_ip_i_

protected

Server for set_gige_ip

Definition at line 182 of file stcamera_node.h.

StApi::CStApiAutoInit stcamera::StCameraNode::stapi_autoinit_

protected

Variable for auto initialization of SentechSDK

Definition at line 185 of file stcamera_node.h.

StApi::CIStSystemPtrArray stcamera::StCameraNode::stapi_systems_

protected

List of GenTL instances used by SentechSDK

Definition at line 188 of file stcamera_node.h.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation