Merge pull request #52 from MisoRobotics/release/0.8.4

Release 0.8.4 for flippy

CHANGELOG.rst

@@ -23,6 +23,21 @@ Changelog for package usb_cam
 * fix bug for byte count in a pixel (3 bytes not 24 bytes) (`#40 <https://github.com/ros-drivers/usb_cam/issues/40>`_ )
 * Contributors: Daniel Seifert, Eric Zavesky, Kei Okada, Ludovico Russo, Russell Toris, honeytrap15
 
+0.8.4 (2022-10-31)
+------------------
+* Merge pull request `#51 <https://github.com/MisoRobotics/usb_cam/issues/51>`_ from MisoRobotics/user/hungrh/fix/autobin-auto-reset-exposure-setting
+  FSIT-3680: Fix autobin auto reset exposure setting
+* Fix autobin auto reset exposure setting
+  This commit fixes to reset the exposure setting
+  without stopping the capture of the V4L2 buffer.
+* Merge pull request `#45 <https://github.com/MisoRobotics/usb_cam/issues/45>`_ from MisoRobotics/user/jhong/feature/add_freq_monitoring
+  SFS-8564, SFS-10034: Add new freq monitoring and diagnostic launch files
+* SFS-8564: Diag 4 - Add frequency monitoring
+  Add frequency monitoring.
+* Merge pull request `#50 <https://github.com/MisoRobotics/usb_cam/issues/50>`_ from MisoRobotics/master
+  Backmerge master into develop for flippy-0.8.3
+* Contributors: Hung Ruo Han, Junpyo Hong, Zach Zweig Vinegar
+
 0.8.3 (2022-10-17)
 ------------------
 * Merge pull request `#46 <https://github.com/MisoRobotics/usb_cam/issues/46>`_ from MisoRobotics/user/hungrh/feature/auto-reset-exposure-setting

CMakeLists.txt

@@ -4,7 +4,7 @@ project(usb_cam)
 ## Find catkin macros and libraries
 ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
 ## is used, also find other catkin packages
-find_package(catkin REQUIRED COMPONENTS image_transport roscpp std_msgs std_srvs sensor_msgs camera_info_manager)
+find_package(catkin REQUIRED COMPONENTS image_transport roscpp std_msgs std_srvs sensor_msgs camera_info_manager misocpp)
 
 ## pkg-config libraries
 find_package(PkgConfig REQUIRED)
@@ -20,14 +20,20 @@ pkg_check_modules(udev libudev REQUIRED)
 ## CATKIN_DEPENDS: catkin_packages dependent projects also need
 ## DEPENDS: system dependencies of this project that dependent projects also need
 catkin_package(
-  INCLUDE_DIRS include
+  INCLUDE_DIRS include ${MISO_INCLUDE_DIRS}
   LIBRARIES ${PROJECT_NAME}
+  CATKIN_DEPENDS
+    misocpp
 )
 
 ###########
 ## Build ##
 ###########
 
+set(CMAKE_CXX_STANDARD 17)
+
+set(GCC_COVERAGE_LINK_FLAGS "-lstdc++fs")
+
 include_directories(include
   ${catkin_INCLUDE_DIRS}
   ${avcodec_INCLUDE_DIRS}
@@ -44,6 +50,7 @@ target_link_libraries(${PROJECT_NAME}
   ${avcodec_LIBRARIES}
   ${swscale_LIBRARIES}
   ${catkin_LIBRARIES}
+  ${GCC_COVERAGE_LINK_FLAGS}
 )
 
 ## Declare a cpp executable

include/usb_cam/usb_cam.h

@@ -101,6 +101,9 @@ class UsbCam {
   void start_capturing(void);
   bool is_capturing();
 
+  bool is_changing_config();
+  void is_changing_config(bool is_changing);
+
  private:
   typedef struct
   {
@@ -132,6 +135,7 @@ class UsbCam {
   void open_device(void);
   bool grab_image();
   bool is_capturing_;
+  bool is_changing_config_;
 
 
   std::string camera_dev_;

nodes/usb_cam_node.cpp

@@ -34,18 +34,19 @@
 *
 *********************************************************************/
 
+#include <filesystem>
+
 #include <ros/ros.h>
 #include <usb_cam/usb_cam.h>
 #include <image_transport/image_transport.h>
 #include <camera_info_manager/camera_info_manager.h>
-#include <diagnostic_updater/diagnostic_updater.h>
-#include <diagnostic_updater/update_functions.h>
 #include <memory>
 #include <sstream>
 #include <std_srvs/Empty.h>
 #include <std_srvs/SetBool.h>
 #include <thread>
 #include <usb_cam/device_utils.h>
+#include <misocpp/diagnostic_updater_wrapper.h>
 
 namespace usb_cam {
 
@@ -63,13 +64,10 @@ const double AUTO_RESET_EXPOSURE_PERIOD = 60.0;
 
 class UsbCamNode
 {
-  // ROS diagnostic updater object.
-  diagnostic_updater::Updater diagnostic_updater_;
-  diagnostic_updater::Heartbeat heartbeat_;
-  std::unique_ptr<diagnostic_updater::FrequencyStatusParam> frequency_status_param_;
-  std::unique_ptr<diagnostic_updater::FrequencyStatus> frequency_status_;
+  misocpp::DiagnosticHeartbeat heartbeat_;
+  std::unique_ptr<misocpp::DiagnosticFrequency> diag_freq_image_raw_{ nullptr };
+  std::unique_ptr<misocpp::DiagnosticFrequency> diag_freq_camera_info_{ nullptr };
   double expected_freq_, auto_reset_exposure_period_;
-
   ros::Timer auto_reset_exposure_timer_;
   bool enable_auto_reset_exposure_;
 
@@ -312,19 +310,20 @@ class UsbCamNode
       }
     }
 
-    // Set hardware ID for diagnostic updater.
-    diagnostic_updater_.setHardwareID("none");
-
-    // Heartbeat
-    diagnostic_updater_.add(heartbeat_);
-
-    // Frequency Status
+    std::string ns = ros::this_node::getNamespace();
     expected_freq_ = static_cast<double>(framerate_);
-    frequency_status_param_ = std::make_unique<diagnostic_updater::FrequencyStatusParam>(&expected_freq_, &expected_freq_);
-    ROS_ASSERT(frequency_status_param_);
-    frequency_status_ = std::make_unique<diagnostic_updater::FrequencyStatus>(*frequency_status_param_, "FrequencyStatus");
-    ROS_ASSERT(frequency_status_);
-    diagnostic_updater_.add(*frequency_status_);
+    std::filesystem::path topic = ns;
+    topic /= image_pub_.getTopic();
+    diag_freq_image_raw_ =
+        std::make_unique<misocpp::DiagnosticFrequency>(topic.c_str(), expected_freq_, expected_freq_);
+    ROS_ASSERT(diag_freq_image_raw_);
+    std::string s(topic);
+    s = s.erase(s.rfind('/'), std::string::npos);
+    topic = s;
+    topic /= "camera_info";
+    diag_freq_camera_info_ =
+        std::make_unique<misocpp::DiagnosticFrequency>(topic.c_str(), expected_freq_, expected_freq_);
+    ROS_ASSERT(diag_freq_camera_info_);
 
     enable_auto_reset_exposure_ = true;
     auto_reset_exposure_timer_ = node_.createTimer(
@@ -349,14 +348,15 @@ class UsbCamNode
 
     // publish the image
     image_pub_.publish(img_, *ci);
-    frequency_status_->tick();
+    diag_freq_camera_info_->tick();
+    diag_freq_image_raw_->tick();
 
     return true;
   }
 
   void resetExposureSettings()
   {
-    cam_.stop_capturing();
+    cam_.is_changing_config(true);
     cam_.set_v4l_parameter(
       "exposure_auto",
       AUTO_EXPOSURE_APERTURE_PRIORITY_MODE
@@ -366,7 +366,7 @@ class UsbCamNode
     );
     cam_.set_v4l_parameter("exposure_auto", AUTO_EXPOSURE_MANUAL_MODE);
     cam_.set_v4l_parameter("exposure_absolute", exposure_);
-    cam_.start_capturing();
+    cam_.is_changing_config(false);
   }
 
   void checkAutoResetExposure(const ros::TimerEvent&)
@@ -382,11 +382,11 @@ class UsbCamNode
     ros::Rate loop_rate(this->framerate_);
     while (node_.ok())
     {
-      if (cam_.is_capturing()) {
+      if (cam_.is_capturing() && !cam_.is_changing_config()) {
         if (!take_and_send_image()) ROS_WARN("USB camera did not respond in time.");
       }
       ros::spinOnce();
-      diagnostic_updater_.update();
+      heartbeat_.update();
       loop_rate.sleep();
 
     }

package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>usb_cam</name>
-  <version>0.8.3</version>
+  <version>0.8.4</version>
   <description>A ROS Driver for V4L USB Cameras</description>
 
   <maintainer email="rctoris@wpi.edu">Russell Toris</maintainer>
@@ -17,6 +17,8 @@
 
   <buildtool_depend>catkin</buildtool_depend>
 
+  <depend>misocpp</depend>
+
   <build_depend>image_transport</build_depend>
   <build_depend>libudev-dev</build_depend>
   <build_depend>udev</build_depend>

src/usb_cam.cpp

@@ -356,7 +356,8 @@ void rgb242rgb(char *YUV, char *RGB, int NumPixels)
 UsbCam::UsbCam()
   : io_(IO_METHOD_MMAP), fd_(-1), buffers_(NULL), n_buffers_(0), avframe_camera_(NULL),
     avframe_rgb_(NULL), avcodec_(NULL), avoptions_(NULL), avcodec_context_(NULL),
-    avframe_camera_size_(0), avframe_rgb_size_(0), video_sws_(NULL), image_(NULL), is_capturing_(false) {
+    avframe_camera_size_(0), avframe_rgb_size_(0), video_sws_(NULL), image_(NULL),
+    is_capturing_(false), is_changing_config_(false) {
 }
 UsbCam::~UsbCam()
 {
@@ -597,6 +598,14 @@ bool UsbCam::is_capturing() {
   return is_capturing_;
 }
 
+bool UsbCam::is_changing_config() {
+  return is_changing_config_;
+}
+
+void UsbCam::is_changing_config(bool is_changing) {
+  is_changing_config_ = is_changing;
+}
+
 void UsbCam::stop_capturing(void)
 {
   if(!is_capturing_) return;