From f8aae6c22497a9ac646c4f22370bf0df643f17b4 Mon Sep 17 00:00:00 2001
From: lovod <743648056@qq.com>
Date: Sun, 20 Jul 2025 11:01:17 +0800
Subject: [PATCH] Add the stop_grub_ function.

---
 .gitignore              | 3 +++
 cfg/camera.cfg          | 2 ++
 include/galaxy_camera.h | 1 +
 src/galaxy_camera.cpp   | 6 ++++++
 4 files changed, 12 insertions(+)

diff --git a/.gitignore b/.gitignore
index 35d74bb..a2c2192 100644
--- a/.gitignore
+++ b/.gitignore
@@ -49,3 +49,6 @@ qtcreator-*
 
 # Catkin custom files
 CATKIN_IGNORE
+
+.clang-format
+.clang-tidy
diff --git a/cfg/camera.cfg b/cfg/camera.cfg
index 9f61a09..2c2051f 100755
--- a/cfg/camera.cfg
+++ b/cfg/camera.cfg
@@ -43,4 +43,6 @@ mode = gen.enum([gen.const("Both", int_t, 0, "Both open"),
                    "mode")
 gen.add("improve_mode", int_t, 0, "Image improve mode selector", 3, 0, 3, edit_method=mode)
 
+gen.add("stop_grab", bool_t, 0, "Stop camera grabbing", False)
+
 exit(gen.generate(PACKAGE, "galaxy_camera", "Camera"))
diff --git a/include/galaxy_camera.h b/include/galaxy_camera.h
index 6a863e0..5d13c8d 100644
--- a/include/galaxy_camera.h
+++ b/include/galaxy_camera.h
@@ -73,6 +73,7 @@ class GalaxyCameraNodelet : public nodelet::Nodelet
   static int64_t contrast_param_;
   static int improve_mode_;
   ros::Subscriber camera_change_sub;
+  bool stop_grab_{};
 };
 }  // namespace galaxy_camera
 
diff --git a/src/galaxy_camera.cpp b/src/galaxy_camera.cpp
index 82b3ad2..bf4edfc 100644
--- a/src/galaxy_camera.cpp
+++ b/src/galaxy_camera.cpp
@@ -35,6 +35,7 @@ void GalaxyCameraNodelet::onInit()
   nh_.param("frame_rate", frame_rate_, 210.0);
   nh_.param("exposure_auto", exposure_auto_, true);
   nh_.param("exposure_value", exposure_value_, std::float_t(2000.));
+  nh_.param("stop_grab", stop_grab_, false);
   info_manager_.reset(new camera_info_manager::CameraInfoManager(nh_, camera_name_, camera_info_url_));
 
   image_transport::ImageTransport it(nh_);
@@ -334,8 +335,13 @@ void GalaxyCameraNodelet::reconfigCB(CameraConfig& config, uint32_t level)
   {
     config.exposure_value = exposure_value_;
     config.exposure_auto = exposure_auto_;
+    config.stop_grab = stop_grab_;
     exposure_initialized_flag_ = true;
   }
+  if (!config.stop_grab)
+    GXStreamOn(dev_handle_);
+  else
+    GXStreamOff(dev_handle_);
   // Exposure
   if (config.exposure_auto)
   {