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add support for triggering parameters #58

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add support for triggering parameters #58

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16 changes: 16 additions & 0 deletions camera_aravis2/include/camera_aravis2/config_structs.h
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Original file line number Diff line number Diff line change
Expand Up @@ -162,6 +162,22 @@ struct AcquisitionControl
/// Number of frames to acquire when 'MultiFrame' is selected as acquisition mode.
int frame_count = 0;

/// Setting the mode for the selected trigger.
std::string trigger_mode = "n/a";

/// Setting the signal source for the selected trigger.
std::string trigger_source = "n/a";

/// Selects the I/O line to configure. Once a line has been selected, all changes to the line
/// settings will be applied to the selected line.
std::string line_selector = "n/a";
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i just realised that LineSelector, LineMode and LineSource are under DigitalIOControl and not under AcquisitionControl.
however, this works just fine since the grouping is completely ignored by aravis when setting the parameters (see #59). i don't have the time to implement this, but i think implementing #57 might be the wiser approach compared to adding yet another struct here for DigitalIOControl.
WDYT?

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@boitumeloruf boitumeloruf Jan 7, 2025 •
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Please refer to #57 (comment) on the choice of grouping.


/// Sets the mode for the selected line.
std::string line_mode = "n/a";

/// Sets the source signal for the selected line (if the selected line is an output).
std::string line_source = "n/a";

/// Exposure mode used for acquisition.
std::string exposure_mode = "n/a";

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75 changes: 75 additions & 0 deletions camera_aravis2/src/camera_driver.cpp
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Expand Up @@ -683,6 +683,71 @@ bool CameraDriver::setupCameraStreamStructs()
//--- For bounded feature values (e.g. frame rate), use function that will also get
//--- the bounds and truncate the value accordingly

//--- Trigger Mode
tmp_feature_name = "TriggerMode";
RCLCPP_DEBUG(logger_, "Evaluating 'AcquisitionControl.%s' for stream %i.",
tmp_feature_name.c_str(), i);
is_parameter_set = getAcquisitionControlParameter(tmp_feature_name, tmp_param_value);
if (is_parameter_set)
setFeatureValueFromParameter<std::string>(tmp_feature_name, tmp_param_value, i);
getFeatureValue<std::string>(tmp_feature_name, acq_ctrl.trigger_mode);
if (is_parameter_set &&
!isParameterValueEqualTo<std::string>(tmp_param_value, acq_ctrl.trigger_mode, i))
config_warn_msgs_.push_back("Stream " + std::to_string(i) + ": " +
"'" + tmp_feature_name + "' is not as specified.");

//--- Trigger Source
tmp_feature_name = "TriggerSource";
RCLCPP_DEBUG(logger_, "Evaluating 'AcquisitionControl.%s' for stream %i.",
tmp_feature_name.c_str(), i);
is_parameter_set = getAcquisitionControlParameter(tmp_feature_name, tmp_param_value);
if (is_parameter_set)
setFeatureValueFromParameter<std::string>(tmp_feature_name, tmp_param_value, i);
getFeatureValue<std::string>(tmp_feature_name, acq_ctrl.trigger_source);
if (is_parameter_set &&
!isParameterValueEqualTo<std::string>(tmp_param_value, acq_ctrl.trigger_source, i))
config_warn_msgs_.push_back("Stream " + std::to_string(i) + ": " +
"'" + tmp_feature_name + "' is not as specified.");

//--- Line Selector
tmp_feature_name = "LineSelector";
RCLCPP_DEBUG(logger_, "Evaluating 'AcquisitionControl.%s' for stream %i.",
tmp_feature_name.c_str(), i);
is_parameter_set = getAcquisitionControlParameter(tmp_feature_name, tmp_param_value);
if (is_parameter_set)
setFeatureValueFromParameter<std::string>(tmp_feature_name, tmp_param_value, i);
getFeatureValue<std::string>(tmp_feature_name, acq_ctrl.line_selector);
if (is_parameter_set &&
!isParameterValueEqualTo<std::string>(tmp_param_value, acq_ctrl.line_selector, i))
config_warn_msgs_.push_back("Stream " + std::to_string(i) + ": " +
"'" + tmp_feature_name + "' is not as specified.");

//--- Line Mode
tmp_feature_name = "LineMode";
RCLCPP_DEBUG(logger_, "Evaluating 'AcquisitionControl.%s' for stream %i.",
tmp_feature_name.c_str(), i);
is_parameter_set = getAcquisitionControlParameter(tmp_feature_name, tmp_param_value);
if (is_parameter_set)
setFeatureValueFromParameter<std::string>(tmp_feature_name, tmp_param_value, i);
getFeatureValue<std::string>(tmp_feature_name, acq_ctrl.line_mode);
if (is_parameter_set &&
!isParameterValueEqualTo<std::string>(tmp_param_value, acq_ctrl.line_mode, i))
config_warn_msgs_.push_back("Stream " + std::to_string(i) + ": " +
"'" + tmp_feature_name + "' is not as specified.");

//--- Line Source
tmp_feature_name = "LineSource";
RCLCPP_DEBUG(logger_, "Evaluating 'AcquisitionControl.%s' for stream %i.",
tmp_feature_name.c_str(), i);
is_parameter_set = getAcquisitionControlParameter(tmp_feature_name, tmp_param_value);
if (is_parameter_set)
setFeatureValueFromParameter<std::string>(tmp_feature_name, tmp_param_value, i);
getFeatureValue<std::string>(tmp_feature_name, acq_ctrl.line_source);
if (is_parameter_set &&
!isParameterValueEqualTo<std::string>(tmp_param_value, acq_ctrl.line_source, i))
config_warn_msgs_.push_back("Stream " + std::to_string(i) + ": " +
"'" + tmp_feature_name + "' is not as specified.");

//--- Acquisition Mode
tmp_feature_name = "AcquisitionMode";
RCLCPP_DEBUG(logger_, "Evaluating 'AcquisitionControl.%s' for stream %i.",
Expand Down Expand Up @@ -1979,6 +2044,16 @@ void CameraDriver::printCameraConfiguration() const
RCLCPP_INFO(logger_, " Image Height Bound: [%i,%i]",
ROI.height_min, ROI.height_max);

RCLCPP_INFO(logger_, " Trigger Mode: %s", ACQ_CTRL.trigger_mode.c_str());

RCLCPP_INFO(logger_, " Trigger Source: %s", ACQ_CTRL.trigger_source.c_str());

RCLCPP_INFO(logger_, " Line Selector: %s", ACQ_CTRL.line_selector.c_str());

RCLCPP_INFO(logger_, " Line Mode: %s", ACQ_CTRL.line_mode.c_str());

RCLCPP_INFO(logger_, " Line Source: %s", ACQ_CTRL.line_source.c_str());

RCLCPP_INFO(logger_, " Acquisition Mode: %s", ACQ_CTRL.acquisition_mode.c_str());

if (getAcquisitionControlParameter("AcquisitionFrameCount", tmp_param_value) ||
Expand Down
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