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driver1394.cpp

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// $Id: driver1394.cpp 36902 2011-05-26 23:20:18Z joq $

/*********************************************************************
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*
*  Copyright (C) 2009, 2010 Jack O'Quin, Patrick Beeson
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#include <boost/format.hpp>

#include <driver_base/SensorLevels.h>
#include <tf/transform_listener.h>

#include "driver1394.h"
#include "camera1394/Camera1394Config.h"
#include "features.h"

namespace camera1394_driver
{
  // some convenience typedefs
  typedef camera1394::Camera1394Config Config;
  typedef driver_base::Driver Driver;
  typedef driver_base::SensorLevels Levels;

  Camera1394Driver::Camera1394Driver(ros::NodeHandle priv_nh,
                                     ros::NodeHandle camera_nh):
    state_(Driver::CLOSED),
    reconfiguring_(false),
    priv_nh_(priv_nh),
    camera_nh_(camera_nh),
    camera_name_("camera"),
    dev_(new camera1394::Camera1394()),
    srv_(priv_nh),
    cycle_(1.0),                        // slow poll when closed
    cinfo_(new camera_info_manager::CameraInfoManager(camera_nh_)),
    calibration_matches_(true),
    it_(new image_transport::ImageTransport(camera_nh_)),
    image_pub_(it_->advertiseCamera("image_raw", 1))
  {}

  Camera1394Driver::~Camera1394Driver()
  {}

  void Camera1394Driver::closeCamera()
  {
    if (state_ != Driver::CLOSED)
      {
        ROS_INFO_STREAM("[" << camera_name_ << "] closing device");
        dev_->close();
        state_ = Driver::CLOSED;
      }
  }

  bool Camera1394Driver::openCamera(Config &newconfig)
  {
    bool success = false;
    int retries = 2;                    // number of retries, if open fails
    do
      {
        try
          {
            if (0 == dev_->open(newconfig))
              {
                if (camera_name_ != dev_->device_id_)
                  {
                    camera_name_ = dev_->device_id_;
                    if (!cinfo_->setCameraName(camera_name_))
                      {
                        // GUID is 16 hex digits, which should be valid.
                        // If not, use it for log messages anyway.
                        ROS_WARN_STREAM("[" << camera_name_
                                        << "] name not valid"
                                        << " for camera_info_manger");
                      }
                  }
                ROS_INFO_STREAM("[" << camera_name_ << "] opened: "
                                << newconfig.video_mode << ", "
                                << newconfig.frame_rate << " fps, "
                                << newconfig.iso_speed << " Mb/s");
                state_ = Driver::OPENED;
                calibration_matches_ = true;
                success = true;
              }

          }
        catch (camera1394::Exception& e)
          {
            state_ = Driver::CLOSED;    // since the open() failed
            if (retries > 0)
              ROS_WARN_STREAM("[" << camera_name_
                              << "] exception opening device (retrying): "
                              << e.what());
            else
              ROS_ERROR_STREAM("[" << camera_name_
                               << "] device open failed: " << e.what());
          }
      }
    while (!success && --retries >= 0);

    return success;
  }


  void Camera1394Driver::poll(void)
  {
    // Do not run concurrently with reconfig().
    //
    // The mutex lock should be sufficient, but the Linux pthreads
    // implementation does not guarantee fairness, and the reconfig()
    // callback thread generally suffers from lock starvation for many
    // seconds before getting to run.  So, we avoid acquiring the lock
    // if there is a reconfig() pending.
    bool do_sleep = true;
    if (!reconfiguring_)
      {
        boost::mutex::scoped_lock lock(mutex_);
        do_sleep = (state_ == Driver::CLOSED);
        if (!do_sleep)
          {
            // driver is open, read the next image still holding lock
            sensor_msgs::ImagePtr image(new sensor_msgs::Image);
            if (read(image))
              {
                publish(image);
              }
          }
      }

    if (do_sleep)
      {
        // device was closed or poll is not running, sleeping avoids
        // busy wait (DO NOT hold the lock while sleeping)
        cycle_.sleep();
      }
  }

  void Camera1394Driver::publish(const sensor_msgs::ImagePtr &image)
  {
    image->header.frame_id = config_.frame_id;
      
    // get current CameraInfo data
    sensor_msgs::CameraInfoPtr
      ci(new sensor_msgs::CameraInfo(cinfo_->getCameraInfo()));

    // check whether CameraInfo matches current video mode
    if (!dev_->checkCameraInfo(*image, *ci))
      {
        // image size does not match: publish a matching uncalibrated
        // CameraInfo instead
        if (calibration_matches_)
          {
            // warn user once
            calibration_matches_ = false;
            ROS_WARN_STREAM("[" << camera_name_
                            << "] calibration does not match video mode "
                            << "(publishing uncalibrated data)");
          }
        ci.reset(new sensor_msgs::CameraInfo());
        ci->height = image->height;
        ci->width = image->width;
      }
    else if (!calibration_matches_)
      {
        // calibration OK now
        calibration_matches_ = true;
        ROS_WARN_STREAM("[" << camera_name_
                        << "] calibration matches video mode now");
      }

    // fill in operational parameters
    dev_->setOperationalParameters(*ci);

    ci->header.frame_id = config_.frame_id;
    ci->header.stamp = image->header.stamp;

    // @todo log a warning if (filtered) time since last published
    // image is not reasonably close to configured frame_rate
          
    // Publish via image_transport
    image_pub_.publish(image, ci);
  }

  bool Camera1394Driver::read(sensor_msgs::ImagePtr &image)
  {
    bool success = true;
    try
      {
        // Read data from the Camera
        ROS_DEBUG_STREAM("[" << camera_name_ << "] reading data");
        dev_->readData(*image);
        ROS_DEBUG_STREAM("[" << camera_name_ << "] read returned");
      }
    catch (camera1394::Exception& e)
      {
        ROS_WARN_STREAM("[" << camera_name_
                        << "] Exception reading data: " << e.what());
        success = false;
      }
    return success;
  }

  void Camera1394Driver::reconfig(Config &newconfig, uint32_t level)
  {
    // Do not run concurrently with poll().  Tell it to stop running,
    // and wait on the lock until it does.
    reconfiguring_ = true;
    boost::mutex::scoped_lock lock(mutex_);
    ROS_DEBUG("dynamic reconfigure level 0x%x", level);

    // resolve frame ID using tf_prefix parameter
    if (newconfig.frame_id == "")
      newconfig.frame_id = "camera";
    std::string tf_prefix = tf::getPrefixParam(priv_nh_);
    ROS_DEBUG_STREAM("tf_prefix: " << tf_prefix);
    newconfig.frame_id = tf::resolve(tf_prefix, newconfig.frame_id);

    if (state_ != Driver::CLOSED && (level & Levels::RECONFIGURE_CLOSE))
      {
        // must close the device before updating these parameters
        closeCamera();                  // state_ --> CLOSED
      }

    if (state_ == Driver::CLOSED)
      {
        // open with new values
        if (openCamera(newconfig))
          {
            // update GUID string parameter
            // TODO move into dev_->open()
            newconfig.guid = camera_name_;
          }
      }

    if (config_.camera_info_url != newconfig.camera_info_url)
      {
        // set the new URL and load CameraInfo (if any) from it
        if (cinfo_->validateURL(newconfig.camera_info_url))
          {
            cinfo_->loadCameraInfo(newconfig.camera_info_url);
          }
        else
          {
            // new URL not valid, use the old one
            newconfig.camera_info_url = config_.camera_info_url;
          }
      }

    if (state_ != Driver::CLOSED)       // openCamera() succeeded?
      {
        // configure IIDC features
        if (level & Levels::RECONFIGURE_CLOSE)
          {
            // initialize all features for newly opened device
            if (false == dev_->features_->initialize(&newconfig))
              {
                ROS_ERROR_STREAM("[" << camera_name_
                                 << "] feature initialization failure");
                closeCamera();          // can't continue
              }
          }
        else
          {
            // update any features that changed
            // TODO replace this with a dev_->reconfigure(&newconfig);
            dev_->features_->reconfigure(&newconfig);
          }
      }

    config_ = newconfig;                // save new parameters
    reconfiguring_ = false;             // let poll() run again

    ROS_DEBUG_STREAM("[" << camera_name_
                     << "] reconfigured: frame_id " << newconfig.frame_id
                     << ", camera_info_url " << newconfig.camera_info_url);
  }


  void Camera1394Driver::setup(void)
  {
    srv_.setCallback(boost::bind(&Camera1394Driver::reconfig, this, _1, _2));
  }


  void Camera1394Driver::shutdown(void)
  {
    closeCamera();
  }

}; // end namespace camera1394_driver

---

camera1394
Author(s): Jack O'Quin, Patrick Beeson, Nate Koenig, Andrew Howard, Damien Douxchamps, Dan Dennedy, Ken Tossell
autogenerated on Sat Mar 2 12:11:23 2013