Merge pull request #5 from mitchellwills/fixedrate

Added support for fixedrate mode
ros-drivers · Mar 4, 2014 · 0e52dc8 · 0e52dc8
2 parents ff5b38d + cd3ccd7
commit 0e52dc8
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Showing 4 changed files with 15 additions and 9 deletions.
diff --git a/prosilica_camera/cfg/ProsilicaCamera.cfg b/prosilica_camera/cfg/ProsilicaCamera.cfg
@@ -9,7 +9,7 @@ gen = ParameterGenerator()
 
 mode_enum = gen.enum( [ gen.const("StreamingMode", str_t, "streaming", "Run at maximum frame rate"),
                         gen.const("PolledMode",    str_t, "polled",    "Capture frame in response to service call"),
-                        #gen.const("FixedRateMode", str_t, "fixedrate", "Fixed Rate mode"),
+                        gen.const("FixedRateMode", str_t, "fixedrate", "Fixed Rate mode"),
                         gen.const("External1Mode", str_t, "syncin1",   "External trigger on SyncIn1 line"),
                         gen.const("External2Mode", str_t, "syncin2",   "External trigger on SyncIn2 line") ],
                       "Enum to set the trigger mode")

diff --git a/prosilica_camera/include/prosilica/prosilica.h b/prosilica_camera/include/prosilica/prosilica.h
@@ -103,6 +103,7 @@ class Camera
 
   //! Must be used before calling start() in a non-triggered mode.
   void setFrameCallback(boost::function<void (tPvFrame*)> callback);
+  void setFrameRate(tPvFloat32 frame_rate);
   //! Start capture.
   void start(FrameStartTriggerMode = Freerun, AcquisitionMode = Continuous);
   //! Stop capture.

diff --git a/prosilica_camera/src/libprosilica/prosilica.cpp b/prosilica_camera/src/libprosilica/prosilica.cpp
@@ -208,16 +208,22 @@ void Camera::setFrameCallback(boost::function<void (tPvFrame*)> callback)
   userCallback_ = callback;
 }
 
+void Camera::setFrameRate(tPvFloat32 frame_rate){
+  CHECK_ERR( PvAttrFloat32Set(handle_, "FrameRate", frame_rate),
+	     "Could not set frame rate");
+}
+
+
 void Camera::start(FrameStartTriggerMode fmode, AcquisitionMode amode)
 {
   assert( FSTmode_ == None && fmode != None );
   ///@todo verify this assert again
-  assert( fmode == SyncIn1 || fmode == SyncIn2 || fmode == Software || !userCallback_.empty() );
+  assert( fmode == SyncIn1 || fmode == SyncIn2 || fmode == Software || fmode == FixedRate || !userCallback_.empty() );
 
   // set camera in acquisition mode
   CHECK_ERR( PvCaptureStart(handle_), "Could not start capture");
 
-  if (fmode == Freerun || fmode == SyncIn1 || fmode == SyncIn2)
+  if (fmode == Freerun || fmode == FixedRate || fmode == SyncIn1 || fmode == SyncIn2)
     for (unsigned int i = 0; i < bufferSize_; ++i)
       PvCaptureQueueFrame(handle_, frames_ + i, Camera::frameDone);
 

diff --git a/prosilica_camera/src/nodes/prosilica_node.cpp b/prosilica_camera/src/nodes/prosilica_node.cpp
@@ -213,14 +213,11 @@ class ProsilicaNode
       trigger_mode_ = prosilica::SyncIn2;
       desired_freq_ = config.trig_rate;
     }
-#if 0
     else if (config.trigger_mode == "fixedrate") {
-      ROS_DEBUG("Fixed rate not supported yet implementing software");
-      trigger_mode_ = prosilica::Software;
-      ///@todo add the fixed rate implementation
-      desired_freq_ = 0;
+      trigger_mode_ = prosilica::FixedRate;
+      desired_freq_ = config.trig_rate;
+      cam_->setFrameRate(desired_freq_);
     }
-#endif
     else if (config.trigger_mode == "polled") {
       trigger_mode_ = prosilica::Software;
       desired_freq_ = 0;
@@ -365,6 +362,8 @@ class ProsilicaNode
         if (!trig_timestamp_topic_.empty())
           trigger_sub_ = nh_.subscribe(trig_timestamp_topic_, 1, &ProsilicaNode::syncInCallback, this);
       }
+      else if (trigger_mode_ == prosilica::FixedRate){
+      }
       else {
         assert(trigger_mode_ == prosilica::Freerun);
       }