add support for transport layer and stream params

ros-drivers · Jul 8, 2024 · e1e5a3d · e1e5a3d
1 parent fb35a79
commit e1e5a3d
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Showing 4 changed files with 37 additions and 6 deletions.
diff --git a/spinnaker_camera_driver/config/blackfly.yaml b/spinnaker_camera_driver/config/blackfly.yaml
@@ -172,3 +172,16 @@ parameters:
   - name: chunk_enable_timestamp
     type: bool
     node: ChunkDataControl/ChunkEnable
+  #
+  # ------- stream layer
+  #
+  - name: "stream_buffer_handling_mode"
+    type: enum
+    # valid values: "NewestFirst", "OldestFirst", "NewestOnly", "OldestFirstOverwrite"
+    node: BufferHandlingControl/StreamBufferHandlingMode
+  #
+  # ------- transport layer
+  #
+  - name: "multicast_monitor_mode"
+    type: bool
+    node: "DeviceControl/DeviceMulticastMonitorMode"
diff --git a/spinnaker_camera_driver/config/blackfly_s.yaml b/spinnaker_camera_driver/config/blackfly_s.yaml
@@ -169,3 +169,10 @@ parameters:
   - name: chunk_enable_timestamp
     type: bool
     node: ChunkDataControl/ChunkEnable
+  #
+  # ------- stream layer
+  #
+  - name: "stream_buffer_handling_mode"
+    type: enum
+    # valid values: "NewestFirst", "OldestFirst", "NewestOnly", "OldestFirstOverwrite"
+    node: BufferHandlingControl/StreamBufferHandlingMode
diff --git a/spinnaker_camera_driver/launch/driver_node.launch.py b/spinnaker_camera_driver/launch/driver_node.launch.py
@@ -63,8 +63,8 @@
         'chunk_enable_timestamp': True,
     },
     'blackfly': {
-        'debug': True,
-        'dump_node_map': True,
+        'debug': False,
+        'dump_node_map': False,
         'gain_auto': 'Continuous',
         'pixel_format': 'BayerRG8',
         'exposure_auto': 'Continuous',
@@ -73,7 +73,8 @@
         'frame_rate_enable': True,
         'buffer_queue_size': 10,
         'trigger_mode': 'Off',
-        'stream_buffer_handling_mode': 'NewestFirst'
+        # 'stream_buffer_handling_mode': 'NewestFirst',
+        # 'multicast_monitor_mode': False
     },
     'chameleon': {
         'debug': False,

diff --git a/spinnaker_camera_driver/src/genicam_utils.cpp b/spinnaker_camera_driver/src/genicam_utils.cpp
@@ -94,9 +94,19 @@ static std::optional<CNodePtr> find_node(
 std::optional<CNodePtr> find_node(
   const std::string & path, Spinnaker::CameraPtr cam, bool debug, bool allow_unreadable)
 {
-  INodeMap & appLayerNodeMap = cam->GetNodeMap();
-  CNodePtr rootNode = appLayerNodeMap.GetNode("Root");
-  return (find_node(path, rootNode, debug, allow_unreadable));
+  CNodePtr rootNode = cam->GetNodeMap().GetNode("Root");
+  std::optional<CNodePtr> nodeptr = find_node(path, rootNode, debug, allow_unreadable);
+  if (nodeptr) {
+    return (nodeptr);
+  }
+  rootNode = cam->GetTLStreamNodeMap().GetNode("Root");
+  nodeptr = find_node(path, rootNode, debug, allow_unreadable);
+  if (nodeptr) {
+    return (nodeptr);
+  }
+  rootNode = cam->GetTLDeviceNodeMap().GetNode("Root");
+  nodeptr = find_node(path, rootNode, debug, allow_unreadable);
+  return (nodeptr);
 }
 }  // namespace genicam_utils
 }  // namespace spinnaker_camera_driver