Grabbing strategy/issue28

README.md

@@ -72,7 +72,9 @@ This is a list of the supported functionality accesible through ROS services, wh
  * Acquisition Frame Rate
  * Resulting Frame Rate
  * Trigger Timeout
- * grabbing Timeout
+ * Grabbing Timeout
+ - Grabbing Strategy
+ - Output Queue Size
 
 ### Digital I/O Control
  * Line Selector
@@ -153,6 +155,8 @@ Service Name  | Notes
 /pylon_camera_node/stop_grabbing  | -
 /pylon_camera_node/set_grab_timeout  | -
 /pylon_camera_node/set_trigger_timeout  | -
+/pylon_camera_node/set_grabbing_strategy | value : 0 = GrabStrategy_OneByOne, 1 = GrabStrategy_LatestImageOnly, 2 = GrabStrategy_LatestImages
+/pylon_camera_node/set_output_queue_size | -
 
 ## Image pixel encoding
 

camera_control_msgs/srv/SetIntegerValue.srv

@@ -19,6 +19,8 @@
 # - set_gamma_selector (value: 0 = User, 1 = sRGB)
 # - set_grab_timeout (unit : ms)
 # - set_trigger_timeout (unit : ms)
+# - set_grabbing_strategy : set 0 = GrabStrategy_OneByOne,  set 1 = GrabStrategy_LatestImageOnly,  set 2 = GrabStrategy_LatestImages
+
 
 int32 value 		# value to be setted
 ---

pylon_camera/CHANGELOG.rst

@@ -2,6 +2,14 @@
 Changelog for package pylon_camera
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+
+0.16.6 (2020-10-19)
+-------------------
+* Add below listed new ROS services : 
+  - set_grabbing_strategy.
+  - set_output_queue_size.
+* Make camera grabbing strategy configurable parameters in default.yaml
+
 0.16.5 (2020-10-15)
 -------------------
 * Add below listed new ROS services : 

pylon_camera/README.rst

@@ -119,6 +119,9 @@ The following settings do **NOT** have to be set. Each camera has default values
 - **grab_timeout**
   The camera grab timout in ms
 
+- **grab_strategy**
+  The camera grabbing strategy.
+
 
 ******
 **Usage**
@@ -169,6 +172,8 @@ Some of the ROS service use integer values for as a commands, below are a list o
 
 - **set_gamma_selector**  ROS Service: 0 = User, 1 = sRGB
 
+- **set_grabbing_strategy**  ROS Service: 0 = GrabStrategy_OneByOne, 1 = GrabStrategy_LatestImageOnly, 2 = GrabStrategy_LatestImages
+
 ******
 **Questions**
 ******

pylon_camera/config/default.yaml

@@ -36,6 +36,12 @@ frame_rate: 5.0
 trigger_timeout: 5000  # in ms
 grab_timeout: 500  # in ms
 
+# Camera grab strategy 
+# 0 : GrabStrategy_OneByOne
+# 1 : GrabStrategy_LatestImageOnly
+# 2 : GrabStrategy_LatestImages
+grab_strategy : 0
+
 
 #  Mode of camera's shutter.
 #  The supported modes are "rolling", "global" and "global_reset"

pylon_camera/include/pylon_camera/internal/impl/pylon_camera_base.hpp

@@ -44,8 +44,6 @@
 namespace pylon_camera
 {
 
-    int trigger_timeout;
-
 template <typename CameraTraitT>
 PylonCameraImpl<CameraTraitT>::PylonCameraImpl(Pylon::IPylonDevice* device) :
     PylonCamera(),
@@ -179,7 +177,8 @@ std::string PylonCameraImpl<CameraTraitT>::currentROSEncoding() const
         ROS_ERROR_STREAM("No ROS equivalent to GenApi encoding");
         cam_->StopGrabbing();
         setImageEncoding(gen_api_encoding);
-        cam_->StartGrabbing();
+        //cam_->StartGrabbing();
+        grabbingStarting();
         //return "NO_ENCODING";
     }
     return ros_encoding;
@@ -359,8 +358,9 @@ bool PylonCameraImpl<CameraTraitT>::startGrabbing(const PylonCameraParameter& pa
             }
             if (error) return false;
         }
-
-        cam_->StartGrabbing();
+        grab_strategy = parameters.grab_strategy_;
+        //cam_->StartGrabbing();
+        grabbingStarting();
         user_output_selector_enums_ = detectAndCountNumUserOutputs();
         device_user_id_ = cam_->DeviceUserID.GetValue();
         img_rows_ = static_cast<size_t>(cam_->Height.GetValue());
@@ -641,7 +641,8 @@ std::string PylonCameraImpl<CameraTraitT>::setImageEncoding(const std::string& r
         if ( GenApi::IsAvailable(cam_->PixelFormat) )
         {
             GenApi::INodeMap& node_map = cam_->GetNodeMap();
-            cam_->StartGrabbing();
+            //cam_->StartGrabbing();
+            grabbingStarting();
             cam_->StopGrabbing();
             GenApi::CEnumerationPtr(node_map.GetNode("PixelFormat"))->FromString(gen_api_encoding.c_str());
             return "done";
@@ -784,7 +785,8 @@ bool PylonCameraImpl<CameraTraitT>::setROI(const sensor_msgs::RegionOfInterest t
             cam_->OffsetX.SetValue(offset_x_to_set);
             cam_->OffsetY.SetValue(offset_y_to_set);
             reached_roi = currentROI();
-            cam_->StartGrabbing();
+            grabbingStarting();
+            //cam_->StartGrabbing();
 
             img_cols_ = static_cast<size_t>(cam_->Width.GetValue());
             img_rows_ = static_cast<size_t>(cam_->Height.GetValue());
@@ -842,7 +844,8 @@ bool PylonCameraImpl<CameraTraitT>::setBinningX(const size_t& target_binning_x,
             }
             cam_->BinningHorizontal.SetValue(binning_x_to_set);
             reached_binning_x = currentBinningX();
-            cam_->StartGrabbing();
+            //cam_->StartGrabbing();
+            grabbingStarting();
             img_cols_ = static_cast<size_t>(cam_->Width.GetValue());
             img_size_byte_ =  img_cols_ * img_rows_ * imagePixelDepth();
         }
@@ -889,7 +892,8 @@ bool PylonCameraImpl<CameraTraitT>::setBinningY(const size_t& target_binning_y,
             }
             cam_->BinningVertical.SetValue(binning_y_to_set);
             reached_binning_y = currentBinningY();
-            cam_->StartGrabbing();
+            //cam_->StartGrabbing();
+            grabbingStarting();
             img_rows_ = static_cast<size_t>(cam_->Height.GetValue());
             img_size_byte_ =  img_cols_ * img_rows_ * imagePixelDepth();
         }
@@ -2761,11 +2765,20 @@ std::string PylonCameraImpl<CameraTraitT>::triggerDeviceReset()
 }
 
 template <typename CameraTraitT>
-std::string PylonCameraImpl<CameraTraitT>::grabbingStarting()
+std::string PylonCameraImpl<CameraTraitT>::grabbingStarting() const
 {
     try
     {
-        cam_->StartGrabbing();
+        if(grab_strategy == 0) {
+           cam_->StartGrabbing(Pylon::EGrabStrategy::GrabStrategy_OneByOne); 
+        } else if (grab_strategy == 1) {
+           cam_->StartGrabbing(Pylon::EGrabStrategy::GrabStrategy_LatestImageOnly); 
+        } else if (grab_strategy == 2) {
+           cam_->StartGrabbing(Pylon::EGrabStrategy::GrabStrategy_LatestImages); 
+        } else {
+            cam_->StartGrabbing(Pylon::EGrabStrategy::GrabStrategy_OneByOne); 
+        }
+
         return "done";
 
     }
@@ -2803,7 +2816,7 @@ std::string PylonCameraImpl<CameraTraitT>::setMaxTransferSize(const int& maxTran
     }
     catch ( const GenICam::GenericException &e )
     {
-        ROS_ERROR_STREAM("An exception while starting the free run mode occurred:" << e.GetDescription());
+        ROS_ERROR_STREAM("An exception while setting the max transfer size occurred:" << e.GetDescription());
         grabbingStarting();
         return e.GetDescription();
     }
@@ -2814,6 +2827,36 @@ float PylonCameraImpl<CameraTraitT>::getTemperature(){
     return 0.0;
 }
 
+
+template <typename CameraTraitT> 
+bool PylonCameraImpl<CameraTraitT>::setGrabbingStrategy(const int& strategy) {
+    if (strategy >= 0 && strategy <= 2){
+        grab_strategy = strategy;
+        return true;
+    } else {
+        return false;
+    }
+
+}
+
+template <typename CameraTraitT> 
+std::string PylonCameraImpl<CameraTraitT>::setOutputQueueSize(const int& size) {
+    if (size >= 0 && size <= cam_->MaxNumBuffer.GetValue()){
+        try {
+            cam_->OutputQueueSize.SetValue(size);
+            return "done";
+        } catch ( const GenICam::GenericException &e ){
+            ROS_ERROR_STREAM("An exception while setting the output queue size occurred:" << e.GetDescription());
+            return e.GetDescription();
+        }
+    } else {
+        return "requested output queue size is out side the limits of : 0-"+std::to_string(cam_->MaxNumBuffer.GetValue());
+    }
+
+}
+
 }  // namespace pylon_camera
 
+
+
 #endif  // PYLON_CAMERA_INTERNAL_BASE_HPP_

pylon_camera/include/pylon_camera/internal/impl/pylon_camera_gige.hpp

@@ -92,7 +92,8 @@ bool PylonGigECamera::setAutoflash(const std::map<int, bool> flash_on_lines)
     {
         try
         {
-            cam_->StartGrabbing();
+            //cam_->StartGrabbing();
+            grabbingStarting();
             cam_->StopGrabbing();
             ROS_INFO("Executing SetAutoFlash: %i -> %i", p.first, p.second);
             if (p.first == 2)
@@ -146,7 +147,8 @@ bool PylonGigECamera::applyCamSpecificStartupSettings(const PylonCameraParameter
 {
     try
     {
-        cam_->StartGrabbing();
+        //cam_->StartGrabbing();
+        grabbingStarting();
         cam_->StopGrabbing();
         if (parameters.startup_user_set_ == "Default")
             {

pylon_camera/include/pylon_camera/internal/impl/pylon_camera_usb.hpp

@@ -87,7 +87,8 @@ bool PylonUSBCamera::applyCamSpecificStartupSettings(const PylonCameraParameter&
 {
     try
     {
-        cam_->StartGrabbing();
+        //cam_->StartGrabbing();
+        grabbingStarting();
         cam_->StopGrabbing();
         if (parameters.startup_user_set_ == "Default")
             {

pylon_camera/include/pylon_camera/internal/pylon_camera.h

@@ -243,7 +243,7 @@ class PylonCameraImpl : public PylonCamera
 
     virtual std::string triggerDeviceReset();  
 
-    virtual std::string grabbingStarting();  
+    virtual std::string grabbingStarting() const;  
 
     virtual std::string grabbingStopping();  
 
@@ -255,6 +255,10 @@ class PylonCameraImpl : public PylonCamera
 
     virtual float getTemperature();
 
+    virtual bool setGrabbingStrategy(const int& strategy);
+
+    virtual std::string setOutputQueueSize(const int& size);
+
 protected:
     typedef typename CameraTraitT::CBaslerInstantCameraT CBaslerInstantCameraT;
     typedef typename CameraTraitT::ExposureAutoEnums ExposureAutoEnums;

pylon_camera/include/pylon_camera/pylon_camera.h

@@ -763,7 +763,7 @@ class PylonCamera
      * start camera aqcuisition
      * @return error message if an error occurred or done message otherwise.
      */
-    virtual std::string grabbingStarting() = 0; 
+    virtual std::string grabbingStarting() const = 0; 
 
     /**
      * stop camera aqcuisition
@@ -792,12 +792,26 @@ class PylonCamera
      */
     virtual std::string gammaEnable(const bool& enable) = 0;
 
+
+    /**
+     * set the camera grapping strategy 
+     * @param strategy : 0 = GrabStrategy_OneByOne, 1 = GrabStrategy_LatestImageOnly, 2 = GrabStrategy_LatestImages
+     * @return error message if an error occurred or done message otherwise.
+     */
+    virtual bool setGrabbingStrategy(const int& strategy) = 0;
+
     /**
      * returns the current internal camera temperature
      * @return 0.0 if error or unknown
      */
     virtual float getTemperature() = 0;
 
+    /**
+     * set The size of the grab result buffer output queue
+     * @return error message if an error occurred or done message otherwise.
+     */
+    virtual std::string setOutputQueueSize(const int& size) = 0;
+
     virtual ~PylonCamera();
 protected:
     /**
@@ -850,6 +864,21 @@ class PylonCamera
      */
     bool is_ready_;
 
+    /**
+     * Camera trigger timeout in ms
+     */
+    int trigger_timeout;
+
+    /**
+     * Camera grab strategy
+     * 0 = GrabStrategy_OneByOne
+     * 1 = GrabStrategy_LatestImageOnly
+     * 2 = GrabStrategy_LatestImages
+     */
+    int grab_strategy ;
+
+
+
     /**
      * True if the extended binary exposure search is running.
      */

pylon_camera/include/pylon_camera/pylon_camera_node.h

@@ -938,6 +938,22 @@ class PylonCameraNode
      */
     bool setTriggerTimeoutCallback(camera_control_msgs::SetIntegerValue::Request &req, camera_control_msgs::SetIntegerValue::Response &res);
 
+    /**
+     * Service callback for setting the camera grabbing strategy 
+     * @param req request
+     * @param res response
+     * @return true on success
+     */
+    bool setGrabbingStrategyCallback(camera_control_msgs::SetIntegerValue::Request &req, camera_control_msgs::SetIntegerValue::Response &res);
+
+    /**
+     * Service callback for setting the size of the grab result buffer output queue.
+     * @param req request
+     * @param res response
+     * @return true on success
+     */
+    bool setOutputQueueSizeCallback(camera_control_msgs::SetIntegerValue::Request &req, camera_control_msgs::SetIntegerValue::Response &res);
+
     ros::NodeHandle nh_;
     PylonCameraParameter pylon_camera_parameter_set_;
     ros::ServiceServer set_binning_srv_;
@@ -986,6 +1002,8 @@ class PylonCameraNode
     ros::ServiceServer gamma_enable_srv;
     ros::ServiceServer set_grab_timeout_srv;
     ros::ServiceServer set_trigger_timeout_srv;
+    ros::ServiceServer set_grabbing_strategy_srv;
+    ros::ServiceServer set_output_queue_size_srv;
 
     std::vector<ros::ServiceServer> set_user_output_srvs_;
 

pylon_camera/include/pylon_camera/pylon_camera_parameter.h

@@ -316,6 +316,14 @@ class PylonCameraParameter
     */
     int trigger_timeout_;
 
+    /**
+    * Camera grab strategy 
+    * 0 = GrabStrategy_OneByOne
+    * 1 = GrabStrategy_LatestImageOnly
+    * 2 = GrabStrategy_LatestImages
+    */
+    int grab_strategy_;
+
 
 
 protected: