Implements the camera configuration and setup. More...

#include <camera_commander.h>

Inheritance diagram for hfl::CameraCommander:

Collaboration diagram for hfl::CameraCommander:

Public Member Functions
	CameraCommander ()

	~CameraCommander ()

void	onInit ()

bool	udpInit ()

bool	createSocket (std::string computerAddr, std::string cameraAddr, uint16_t port, bool isMulticast)

Private Member Functions
void	setCommanderState (const ros::TimerEvent &timer_event)

bool	setFlash ()

void	frameDataCallback (const udp_com::UdpPacket &udp_packet)

void	objectDataCallback (const udp_com::UdpPacket &udp_packet)

void	lutDataCallback (const udp_com::UdpPacket &udp_packet)

bool	sendCommand (const std::vector< uint8_t > &data)

void	dynamicPametersCallback (hfl_driver::HFLConfig &config, uint32_t level)

error_codes	checkForError ()

bool	fixError (error_codes error)

Private Attributes
ros::NodeHandle	node_handler_
	Node Handle. More...

std::string	namespace_
	Namespace. More...

ros::Subscriber	frame_data_subscriber_
	UDP Frame Data subscriber. More...

ros::Subscriber	object_data_subscriber_
	UDP Object Data Subscriber. More...

ros::Subscriber	lut_data_subscriber_
	UDP LUT Data Subscriber. More...

ros::ServiceClient	udp_send_service_client_
	UDP send service client. More...

ros::ServiceClient	udp_socket_creation_service_client_
	UDP socket service client. More...

std::shared_ptr< dynamic_reconfigure::Server< hfl_driver::HFLConfig > >	dynamic_parameters_server_
	Dynamic Reconfigure server. More...

ros::Timer	timer_
	Status checker timer. More...

commander_states	current_state_
	Commander current state. More...

commander_states	previous_state_
	Commander Previous state prior to error. More...

error_codes	error_status_
	Error Status. More...

std::string	ethernet_interface_
	Ethernet Interface. More...

std::string	camera_address_
	IP Address of sensor. More...

std::string	computer_address_
	IP Address of computer. More...

int	frame_data_port_
	Frame Data UDP port. More...

int	object_data_port_
	Object Data UDP port. More...

std::shared_ptr< hfl::HflInterface >	flash_
	Pointer to Flash camera. More...

Detailed Description

Implements the camera configuration and setup.

Constructor & Destructor Documentation

◆ CameraCommander()

hfl::CameraCommander::CameraCommander ( )

CameraCommander constructor

Initialize default variables here

◆ ~CameraCommander()

hfl::CameraCommander::~CameraCommander ( )

CameraCommander destructor

Member Function Documentation

◆ checkForError()

error_codes hfl::CameraCommander::checkForError ( )

private

Checks for Errors and returns the designated error code

◆ createSocket()

bool hfl::CameraCommander::createSocket	(	std::string	computerAddr,
		std::string	cameraAddr,
		uint16_t	port,
		bool	isMulticast
	)

Create Socket Request Function

Parameters

[in]	computerAddr	Computer's IP Address
[in]	cameraAddr	Camera's IP Address
[in]	port	UDP port number
[in]	isMulticast	describes if the connection is multicast

Returns: bool true if socket created

◆ dynamicPametersCallback()

void hfl::CameraCommander::dynamicPametersCallback	(	hfl_driver::HFLConfig &	config,
		uint32_t	level
	)

private

Uses the dynamic reconfigure service binded callback dynamic parameter configuration.

Parameters

[in]	config	parameters data
[in]	level	priority

Returns: void

◆ fixError()

bool hfl::CameraCommander::fixError ( error_codes error )

private

Fixes the error corresponding to the error code Returns true if error fixed, false otherwise

Returns: bool

◆ frameDataCallback()

void hfl::CameraCommander::frameDataCallback ( const udp_com::UdpPacket & udp_packet )

private

Callback for UDP frame data packets.

Receives the frame data messages for parsing through IP addresses validation.

Parameters

[in] udp_packet UDP packet message

Returns: void

◆ lutDataCallback()

void hfl::CameraCommander::lutDataCallback ( const udp_com::UdpPacket & udp_packet )

private

Callback for UDP LUT data packets

Receives the lut data messages for parsing through IP addresses validation

Parameters

[in] udp_packet UDP packet message

Returns: void

◆ objectDataCallback()

void hfl::CameraCommander::objectDataCallback ( const udp_com::UdpPacket & udp_packet )

private

Callback for UDP object data packets

Receives the object data messages for parsing through IP addresses validation

Parameters

[in] udp_packet UDP packet message

Returns: void

◆ onInit()

void hfl::CameraCommander::onInit ( )

Initialize Nodelet member variables

Returns: void

◆ sendCommand()

bool hfl::CameraCommander::sendCommand ( const std::vector< uint8_t > & data )

private

Uses the udp_com service binded send function for command sending

Parameters

[in] data Data array to be sent

Returns: bool true if command sent succed

◆ setCommanderState()

void hfl::CameraCommander::setCommanderState ( const ros::TimerEvent & timer_event )

private

Sets CameraCommander current state

Parameters

[in] timer_event ROS TimerEvent object

Returns: void

◆ setFlash()

bool hfl::CameraCommander::setFlash ( )

private

Loads the HFL camera instace accordingly to the launch parameters

Returns: bool true if flash loading succed

◆ udpInit()

bool hfl::CameraCommander::udpInit ( )

Initialize UDP topics and services

Returns: void

Member Data Documentation

◆ camera_address_

std::string hfl::CameraCommander::camera_address_

private

IP Address of sensor.

◆ computer_address_

std::string hfl::CameraCommander::computer_address_

private

IP Address of computer.

◆ current_state_

commander_states hfl::CameraCommander::current_state_

private

Commander current state.

◆ dynamic_parameters_server_

std::shared_ptr<dynamic_reconfigure::Server<hfl_driver::HFLConfig> > hfl::CameraCommander::dynamic_parameters_server_

private

Dynamic Reconfigure server.

◆ error_status_

error_codes hfl::CameraCommander::error_status_

private

Error Status.

◆ ethernet_interface_

std::string hfl::CameraCommander::ethernet_interface_

private

Ethernet Interface.

◆ flash_

std::shared_ptr<hfl::HflInterface> hfl::CameraCommander::flash_

private

Pointer to Flash camera.

◆ frame_data_port_

int hfl::CameraCommander::frame_data_port_

private

Frame Data UDP port.

◆ frame_data_subscriber_

ros::Subscriber hfl::CameraCommander::frame_data_subscriber_

private

UDP Frame Data subscriber.

◆ lut_data_subscriber_

ros::Subscriber hfl::CameraCommander::lut_data_subscriber_

private

UDP LUT Data Subscriber.

◆ namespace_

std::string hfl::CameraCommander::namespace_

private

Namespace.

◆ node_handler_

ros::NodeHandle hfl::CameraCommander::node_handler_

private

Node Handle.

◆ object_data_port_

int hfl::CameraCommander::object_data_port_

private

Object Data UDP port.

◆ object_data_subscriber_

ros::Subscriber hfl::CameraCommander::object_data_subscriber_

private

UDP Object Data Subscriber.

◆ previous_state_

commander_states hfl::CameraCommander::previous_state_

private

Commander Previous state prior to error.

◆ timer_

ros::Timer hfl::CameraCommander::timer_

private

Status checker timer.

◆ udp_send_service_client_

ros::ServiceClient hfl::CameraCommander::udp_send_service_client_

private

UDP send service client.

◆ udp_socket_creation_service_client_

ros::ServiceClient hfl::CameraCommander::udp_socket_creation_service_client_

private

UDP socket service client.

The documentation for this class was generated from the following files:

include/camera_commander/camera_commander.h
src/camera_commander/camera_commander.cpp

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ CameraCommander()

◆ ~CameraCommander()

Member Function Documentation

◆ checkForError()

◆ createSocket()

◆ dynamicPametersCallback()

◆ fixError()

◆ frameDataCallback()

◆ lutDataCallback()

◆ objectDataCallback()

◆ onInit()

◆ sendCommand()

◆ setCommanderState()

◆ setFlash()

◆ udpInit()

Member Data Documentation

◆ camera_address_

◆ computer_address_

◆ current_state_

◆ dynamic_parameters_server_

◆ error_status_

◆ ethernet_interface_

◆ flash_

◆ frame_data_port_

◆ frame_data_subscriber_

◆ lut_data_subscriber_

◆ namespace_

◆ node_handler_

◆ object_data_port_

◆ object_data_subscriber_

◆ previous_state_

◆ timer_

◆ udp_send_service_client_

◆ udp_socket_creation_service_client_