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support stream and transport layer for GigE #193

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merged 2 commits into from
Jul 8, 2024
Merged

support stream and transport layer for GigE #193

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f7c6deb
added option to launch blackfly type
berndpfrommer Jul 8, 2024
1ccf18d
add support for transport layer and stream params
berndpfrommer Jul 8, 2024
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13 changes: 13 additions & 0 deletions spinnaker_camera_driver/config/blackfly.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -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"
7 changes: 7 additions & 0 deletions spinnaker_camera_driver/config/blackfly_s.yaml
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Expand Up @@ -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
14 changes: 14 additions & 0 deletions spinnaker_camera_driver/launch/driver_node.launch.py
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Expand Up @@ -62,6 +62,20 @@
'chunk_selector_timestamp': 'Timestamp',
'chunk_enable_timestamp': True,
},
'blackfly': {
'debug': False,
'dump_node_map': False,
'gain_auto': 'Continuous',
'pixel_format': 'BayerRG8',
'exposure_auto': 'Continuous',
'frame_rate_auto': 'Off',
'frame_rate': 40.0,
'frame_rate_enable': True,
'buffer_queue_size': 10,
'trigger_mode': 'Off',
# 'stream_buffer_handling_mode': 'NewestFirst',
# 'multicast_monitor_mode': False
},
'chameleon': {
'debug': False,
'compute_brightness': False,
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16 changes: 13 additions & 3 deletions spinnaker_camera_driver/src/genicam_utils.cpp
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Expand Up @@ -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
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