make camera trigger and grib timeout configurable - issue 29

README.md

@@ -71,6 +71,8 @@ This is a list of the supported functionality accesible through ROS services, wh
  * Auto Exposure Time Upper Limit
  * Acquisition Frame Rate
  * Resulting Frame Rate
+ * Trigger Timeout
+ * grabbing Timeout
 
 ### Digital I/O Control
  * Line Selector
@@ -149,6 +151,8 @@ Service Name  | Notes
 /pylon_camera_node/set_trigger_source | value : 0 = Software, 1 = Line1, 2 = Line3, 3 = Line4, 4 = Action1 (only selected GigE Camera)
 /pylon_camera_node/start_grabbing | -
 /pylon_camera_node/stop_grabbing  | -
+/pylon_camera_node/set_grab_timeout  | -
+/pylon_camera_node/set_trigger_timeout  | -
 
 ## Image pixel encoding
 

camera_control_msgs/srv/SetIntegerValue.srv

@@ -17,6 +17,8 @@
 # - select_user_set ROS service (value : 0 = Default, 1 = UserSet1, 2 = UserSet2, 3 = UserSet3, 4 = HighGain, 5 = AutoFunctions, 6 = ColorRaw)
 # - select_default_user_set ROS service (value : 0 = Default, 1 = UserSet1, 2 = UserSet2, 3 = UserSet3, 4 = HighGain, 5 = AutoFunctions, 6 = ColorRaw)
 # - set_gamma_selector (value: 0 = User, 1 = sRGB)
+# - set_grab_timeout (unit : ms)
+# - set_trigger_timeout (unit : ms)
 
 int32 value 		# value to be setted
 ---

pylon_camera/CHANGELOG.rst

@@ -2,6 +2,13 @@
 Changelog for package pylon_camera
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.16.5 (2020-10-15)
+-------------------
+* Add below listed new ROS services : 
+  - set_grab_timeout (in ms).
+  - set_trigger_timeout (in ms).
+* Make camera grab and trigger timeout configurable parameters in default.yaml
+
 0.16.4 (2019-09-30)
 -------------------
 * Add below listed new ROS services : 

pylon_camera/README.rst

@@ -113,6 +113,12 @@ The following settings do **NOT** have to be set. Each camera has default values
 - **gige/inter_pkg_delay**
   The inter-package delay in ticks. Only used for GigE cameras. To prevent lost frames it should be greater 0. For most of GigE-Cameras, a value of 1000 is reasonable. For GigE-Cameras used on a RaspberryPI this value should be set to 11772.
 
+- **trigger_timeout**
+  The camera trigger timout in ms
+
+- **grab_timeout**
+  The camera grab timout in ms
+
 
 ******
 **Usage**

pylon_camera/config/default.yaml

@@ -33,6 +33,10 @@ camera_info_url: ""
 #  Calling the GrabImages-Action can result in a higher framerate
 frame_rate: 5.0
 
+trigger_timeout: 5000  # in ms
+grab_timeout: 500  # in ms
+
+
 #  Mode of camera's shutter.
 #  The supported modes are "rolling", "global" and "global_reset"
 #  Default value is "" (empty) means default_shutter_mode

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

@@ -44,6 +44,8 @@
 namespace pylon_camera
 {
 
+    int trigger_timeout;
+
 template <typename CameraTraitT>
 PylonCameraImpl<CameraTraitT>::PylonCameraImpl(Pylon::IPylonDevice* device) :
     PylonCamera(),
@@ -366,8 +368,8 @@ bool PylonCameraImpl<CameraTraitT>::startGrabbing(const PylonCameraParameter& pa
         img_size_byte_ =  img_cols_ * img_rows_ * imagePixelDepth();
 
         //grab_timeout_ = exposureTime().GetMax() * 1.05;
-        grab_timeout_ = 500; // grab timeout = 500 ms
-
+        grab_timeout_ = parameters.grab_timeout_; // grab timeout = 500 ms
+        trigger_timeout = parameters.trigger_timeout_;
         // grab one image to be sure, that the communication is successful
         Pylon::CGrabResultPtr grab_result;
         grab(grab_result);
@@ -473,13 +475,13 @@ bool PylonCameraImpl<CameraTrait>::grab(Pylon::CGrabResultPtr& grab_result)
 
     try
     {
-        int timeout = 5000;  // ms
+        //int timeout = 5000;  // ms
         // WaitForFrameTriggerReady to prevent trigger signal to get lost
         // this could happen, if 2xExecuteSoftwareTrigger() is only followed by 1xgrabResult()
         // -> 2nd trigger might get lost
         if ((cam_->TriggerMode.GetValue() == TriggerModeEnums::TriggerMode_On))
         {
-        if ( cam_->WaitForFrameTriggerReady(timeout, Pylon::TimeoutHandling_ThrowException) )
+        if ( cam_->WaitForFrameTriggerReady(trigger_timeout, Pylon::TimeoutHandling_ThrowException) )
         {   
             cam_->ExecuteSoftwareTrigger(); 
         }

pylon_camera/include/pylon_camera/pylon_camera_node.h

@@ -922,6 +922,22 @@ class PylonCameraNode
      */
     std::string gammaEnable(const int& enable);
 
+    /**
+     * Service callback for setting the camera grab timeout in ms
+     * @param req request
+     * @param res response
+     * @return true on success
+     */
+    bool setGrabTimeoutCallback(camera_control_msgs::SetIntegerValue::Request &req, camera_control_msgs::SetIntegerValue::Response &res);
+
+    /**
+     * Service callback for setting the camera trigger timeout in ms
+     * @param req request
+     * @param res response
+     * @return true on success
+     */
+    bool setTriggerTimeoutCallback(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_;
@@ -967,7 +983,10 @@ class PylonCameraNode
     ros::ServiceServer stop_grabbing_srv_;  
     ros::ServiceServer set_max_transfer_size_srv_; 
     ros::ServiceServer set_gamma_selector_srv; 
-    ros::ServiceServer gamma_enable_srv; 
+    ros::ServiceServer gamma_enable_srv;
+    ros::ServiceServer set_grab_timeout_srv;
+    ros::ServiceServer set_trigger_timeout_srv;
+
     std::vector<ros::ServiceServer> set_user_output_srvs_;
 
     // DNB component status publisher

pylon_camera/include/pylon_camera/pylon_camera_parameter.h

@@ -305,6 +305,18 @@ class PylonCameraParameter
      * Only supported for GigE cameras. Default: true
      */
     bool auto_flash_line_3_;
+
+    /**
+    * camera grab timeout in ms
+    */
+    int grab_timeout_;
+
+    /**
+    * camera trigger timeout in ms
+    */
+    int trigger_timeout_;
+
+
 
 protected:
     /**

pylon_camera/src/pylon_camera/pylon_camera_node.cpp

@@ -180,6 +180,12 @@ PylonCameraNode::PylonCameraNode()
       gamma_enable_srv(nh_.advertiseService("gamma_enable",
                                              &PylonCameraNode::gammaEnableCallback,
                                              this)),
+      set_grab_timeout_srv(nh_.advertiseService("set_grab_timeout",
+                                             &PylonCameraNode::setGrabTimeoutCallback,
+                                             this)),
+      set_trigger_timeout_srv(nh_.advertiseService("set_trigger_timeout",
+                                             &PylonCameraNode::setTriggerTimeoutCallback,
+                                             this)),
       set_user_output_srvs_(),
       pylon_camera_(nullptr),
       it_(new image_transport::ImageTransport(nh_)),
@@ -2908,6 +2914,33 @@ std::string PylonCameraNode::gammaEnable(const int& enable)
     return pylon_camera_->gammaEnable(enable) ;
 }
 
+
+bool PylonCameraNode::setGrabTimeoutCallback(camera_control_msgs::SetIntegerValue::Request &req, camera_control_msgs::SetIntegerValue::Response &res)
+{
+    grabbingStopping();
+    try {
+      pylon_camera_parameter_set_.grab_timeout_ = req.value;
+      res.success = true;
+    } catch (...){
+      res.success = false;
+    }
+    grabbingStarting(); // start grappiong is required to set the new trigger timeout
+    return true;
+}
+
+bool PylonCameraNode::setTriggerTimeoutCallback(camera_control_msgs::SetIntegerValue::Request &req, camera_control_msgs::SetIntegerValue::Response &res)
+{
+    grabbingStopping();
+    try {
+      pylon_camera_parameter_set_.trigger_timeout_ = req.value;
+      res.success = true;
+    } catch (...){
+      res.success = false;
+    }
+    grabbingStarting(); // start grappiong is required to set the new trigger timeout
+    return true;
+}
+
 void PylonCameraNode::currentParamPub()
 {
   boost::lock_guard<boost::recursive_mutex> lock(grab_mutex_);
@@ -3004,4 +3037,4 @@ PylonCameraNode::~PylonCameraNode()
     }
 }
 
-}  // namespace pylon_camera
+}  // namespace pylon_camera

pylon_camera/src/pylon_camera/pylon_camera_parameter.cpp

@@ -69,7 +69,9 @@ PylonCameraParameter::PylonCameraParameter() :
         inter_pkg_delay_(1000),
         startup_user_set_(""),
         shutter_mode_(SM_DEFAULT),
-        auto_flash_(false)
+        auto_flash_(false), 
+        grab_timeout_(500),
+        trigger_timeout_(5000)
 {}
 
 PylonCameraParameter::~PylonCameraParameter()
@@ -257,6 +259,14 @@ void PylonCameraParameter::readFromRosParameterServer(const ros::NodeHandle& nh)
     {
         nh.getParam("startup_user_set", startup_user_set_);
     }
+    if ( nh.hasParam("grab_timeout") )
+    {
+        nh.getParam("grab_timeout", grab_timeout_);
+    }
+    if ( nh.hasParam("trigger_timeout") )
+    {
+        nh.getParam("trigger_timeout", trigger_timeout_);
+    }
 
     nh.param<bool>("auto_flash", auto_flash_, false);
     nh.param<bool>("auto_flash_line_2", auto_flash_line_2_, true);