Services, example

CMakeLists.txt

@@ -50,18 +50,23 @@ find_package(catkin REQUIRED COMPONENTS
 ##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
 
 ## Generate messages in the 'msg' folder
-# add_message_files(
-#   FILES
-#   Message1.msg
-#   Message2.msg
-# )
+ add_message_files(
+   FILES
+   PhoXiSize.msg
+ )
 
 ## Generate services in the 'srv' folder
-# add_service_files(
-#   FILES
-#   Service1.srv
-#   Service2.srv
-# )
+ add_service_files(
+   FILES
+         GetDeviceList.srv
+         ConnectCamera.srv
+         IsAcquiring.srv
+         GetFrame.srv
+         TriggerImage.srv
+         GetHardwareIdentification.srv
+         GetSupportedCapturingModes.srv
+         IsConnected.srv
+ )
 
 ## Generate actions in the 'action' folder
 # add_action_files(
@@ -71,10 +76,10 @@ find_package(catkin REQUIRED COMPONENTS
 # )
 
 ## Generate added messages and services with any dependencies listed here
-# generate_messages(
-#   DEPENDENCIES
-#   sensor_msgs#   std_msgs
-# )
+ generate_messages(
+   DEPENDENCIES
+   sensor_msgs std_msgs
+ )
 
 ################################################
 ## Declare ROS dynamic reconfigure parameters ##
@@ -111,7 +116,8 @@ generate_dynamic_reconfigure_options(
 ## DEPENDS: system dependencies of this project that dependent projects also need
 
 catkin_package(
-#  INCLUDE_DIRS include
+        CATKIN_DEPENDS message_runtime std_msgs sensor_msgs
+        #  INCLUDE_DIRS include
 #  LIBRARIES pho_driver
 #  CATKIN_DEPENDS dynamic_reconfigure pcl_ros roscpp roslib rospy sensor_msgs std_msgs tf
 #  DEPENDS system_lib
@@ -178,6 +184,7 @@ add_dependencies(phoxi_camera_node ${PROJECT_NAME}_gencfg)
 #   ${catkin_LIBRARIES}
 # )
 
+#message(${PHOXI_LIBRARY})
 target_link_libraries(phoxi_camera_node
         debug ${catkin_LIBRARIES}
         optimized ${catkin_LIBRARIES}
@@ -235,7 +242,12 @@ target_link_libraries(phoxi_camera_node
 ## Add folders to be run by python nosetests
 # catkin_add_nosetests(test)
 #add dynamic reconfigure api
-#find_package(catkin REQUIRED dynamic_reconfigure)
+find_package(catkin REQUIRED COMPONENTS
+        roscpp
+        rospy
+        std_msgs
+        message_generation
+        )
 
 
 

cfg/phoxi_camera.cfg

@@ -5,17 +5,34 @@ from dynamic_reconfigure.parameter_generator_catkin import *
 
 gen = ParameterGenerator()
 
-gen.add("int_param",    int_t,    0, "An Integer parameter", 50,  0, 100)
-gen.add("double_param", double_t, 0, "A double parameter",    .5, 0,   1)
-gen.add("str_param",    str_t,    0, "A string parameter",  "Hello World")
-gen.add("bool_param",   bool_t,   0, "A Boolean parameter",  True)
+gen.add("size_width", int_t, 1 << 1, "An Integer parameter", 1920, 0)
+gen.add("size_height", int_t, 1 << 2, "An Integer parameter", 1080, 0)
+gen.add("capturing_size_width", int_t, 1 << 3, "An Integer parameter", 1920, 0)
+gen.add("capturing_size_height", int_t, 1 << 4, "An Integer parameter", 1080, 0)
+gen.add("capturing_scan_multiplier", int_t, 1 << 5, "An Integer parameter", 1)
+gen.add("acquisition_time", double_t, 1 << 6, "A double parameter", 1.0, 0.0)
 
-size_enum = gen.enum([ gen.const("Small",      int_t, 0, "A small constant"),
-                       gen.const("Medium",     int_t, 1, "A medium constant"),
-                       gen.const("Large",      int_t, 2, "A large constant"),
-                       gen.const("ExtraLarge", int_t, 3, "An extra large constant")],
-                     "An enum to set size")
+trigger_enum = gen.enum([gen.const("Freerun", int_t, 0, "A small constant"),
+                         gen.const("Software", int_t, 1, "A medium constant"),
+                         gen.const("hardware", int_t, 2, "A large constant"),
+                         gen.const("NoValue", int_t, 3, "An extra large constant")],
+                        "An enum to set size")
 
-gen.add("size", int_t, 0, "A size parameter which is edited via an enum", 1, 0, 3, edit_method=size_enum)
+gen.add("trigger_mode", int_t, 1 << 7, "A size parameter which is edited via an enum", 1, 0, 3, edit_method=trigger_enum)
 
-exit(gen.generate(PACKAGE, "phoxi_camera", "Tutorials"))
+timeout_enum = gen.enum([gen.const("ZeroTimeout", int_t, 0, "A small constant"),
+                         gen.const("Infinity", int_t, -1, "A medium constant"),
+                         gen.const("LastStored", int_t, -2, "A large constant"),
+                         gen.const("Default", int_t, -3, "An extra large constant")],
+                        "An enum to set size")
+
+gen.add("timeout", int_t, 1 << 8, "A size parameter which is edited via an enum", -1, -3, 0, edit_method=timeout_enum)
+
+gen.add("processing_settings", double_t, 1 << 9, "A double parameter", 1.0, 0.0)
+
+gen.add("send_point_cloud", bool_t, 1 << 10, "A Boolean parameter", True)
+gen.add("send_depth_map", bool_t, 1 << 11, "A Boolean parameter", True)
+gen.add("send_confidence_map", bool_t, 1 << 12, "A Boolean parameter", True)
+gen.add("send_texture", bool_t, 1 << 13, "A Boolean parameter", True)
+
+exit(gen.generate(PACKAGE, "phoxi_camera_node", "Tutorials"))

msg/PhoXiSize.msg

@@ -0,0 +1,2 @@
+int32 Width
+int32 Height

package.xml

@@ -32,11 +32,11 @@
   <!-- Dependencies can be catkin packages or system dependencies -->
   <!-- Examples: -->
   <!-- Use build_depend for packages you need at compile time: -->
-  <!--   <build_depend>message_generation</build_depend> -->
+     <build_depend>message_generation</build_depend>
   <!-- Use buildtool_depend for build tool packages: -->
   <!--   <buildtool_depend>catkin</buildtool_depend> -->
   <!-- Use run_depend for packages you need at runtime: -->
-  <!--   <run_depend>message_runtime</run_depend> -->
+     <run_depend>message_runtime</run_depend>
   <!-- Use test_depend for packages you need only for testing: -->
   <!--   <test_depend>gtest</test_depend> -->
   <buildtool_depend>catkin</buildtool_depend>
@@ -47,6 +47,7 @@
   <build_depend>rospy</build_depend>
   <build_depend>sensor_msgs</build_depend>
   <build_depend>std_msgs</build_depend>
+  <build_depend>std_srvs</build_depend>
   <build_depend>tf</build_depend>
   <run_depend>dynamic_reconfigure</run_depend>
   <run_depend>pcl_ros</run_depend>
@@ -55,6 +56,7 @@
   <run_depend>rospy</run_depend>
   <run_depend>sensor_msgs</run_depend>
   <run_depend>std_msgs</run_depend>
+  <run_depend>std_srvs</run_depend>
   <run_depend>tf</run_depend>
 
 

src/phoxi_camera_example.py

@@ -0,0 +1,27 @@
+#!/usr/bin/env python
+import rospy
+from phoxi_camera.srv import *
+from std_srvs.srv import *
+
+if __name__ == "__main__":
+    rospy.init_node('phoxi_camera_example', anonymous=True)
+    while not rospy.is_shutdown():
+        rospy.wait_for_service('phoxi_camera/get_device_list')
+        try:
+            get_device_list = rospy.ServiceProxy('phoxi_camera/get_device_list', GetDeviceList)
+            resp1 = get_device_list()
+            print "devices", resp1.out
+            name = "noConnectedCamera-03"
+            res_connect = rospy.ServiceProxy('phoxi_camera/connect_camera', ConnectCamera)(name)
+            print "connect to", name, res_connect
+            if res_connect.success:
+                res_star_acq = rospy.ServiceProxy('phoxi_camera/start_acquisition', Empty)()
+                res_trig = rospy.ServiceProxy('phoxi_camera/trigger_image', TriggerImage)()
+                res_get_fram = rospy.ServiceProxy('phoxi_camera/get_frame', GetFrame)(-1)
+                print "get_frame", res_get_fram
+            else:
+                print "cant connect"
+        except rospy.ServiceException, e:
+            print "Service call failed: %s" % e
+        res_dis = rospy.ServiceProxy('phoxi_camera/disconnect_camera', Empty)()
+        print "disconnect"