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F3-5443: Add service for resetting the camera exposure #64

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Jul 16, 2024
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F3-5443: Add service for resetting the camera exposure #64

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16 changes: 11 additions & 5 deletions nodes/usb_cam_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -93,14 +93,19 @@ class UsbCamNode

UsbCam cam_;

ros::ServiceServer service_start_, service_stop_, service_auto_reset_exposure_;
ros::ServiceServer service_start_, service_stop_, service_auto_reset_exposure_, reset_exposure_;

bool service_start_cap(std_srvs::Empty::Request &req, std_srvs::Empty::Response &res )
{
cam_.start_capturing();
return true;
}

bool reset_exposure_call(std_srvs::Empty::Request &req, std_srvs::Empty::Response &res )
{
resetExposureSettings();
return true;
}

bool service_stop_cap( std_srvs::Empty::Request &req, std_srvs::Empty::Response &res )
{
Expand Down Expand Up @@ -163,6 +168,7 @@ class UsbCamNode
// create Services
service_start_ = node_.advertiseService("start_capture", &UsbCamNode::service_start_cap, this);
service_stop_ = node_.advertiseService("stop_capture", &UsbCamNode::service_stop_cap, this);
reset_exposure_ = node_.advertiseService("manual_reset_exposure", &UsbCamNode::reset_exposure_call, this);
service_auto_reset_exposure_ = node_.advertiseService("reset_exposure", &UsbCamNode::service_auto_reset_exposure, this);

if (!serial_number_.empty())
Expand Down Expand Up @@ -387,8 +393,7 @@ class UsbCamNode
{
if (enable_auto_reset_exposure_)
{
std::thread t1(&UsbCamNode::resetExposureSettings, this);
t1.detach();
resetExposureSettings();
}
}

Expand All @@ -400,10 +405,8 @@ class UsbCamNode
if (cam_.is_capturing() && !cam_.is_changing_config()) {
if (!take_and_send_image()) ROS_WARN("USB camera did not respond in time.");
}
ros::spinOnce();
heartbeat_.update();
loop_rate.sleep();

}
return true;
}
Expand All @@ -414,6 +417,9 @@ class UsbCamNode
int main(int argc, char **argv)
{
ros::init(argc, argv, "usb_cam");
// Will need more threads if we add more callbacks
ros::AsyncSpinner spinner{ 2 };
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Add some kind of note here that if we add another callback type without adding another thread, there could be weird threading issues

spinner.start();
usb_cam::UsbCamNode a;
a.spin();
return EXIT_SUCCESS;
Expand Down
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