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Add the stop_grub_ function. #2

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Add the stop_grub_ function. #2

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3 changes: 3 additions & 0 deletions .gitignore
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Original file line number Diff line number Diff line change
Expand Up @@ -49,3 +49,6 @@ qtcreator-*

# Catkin custom files
CATKIN_IGNORE

.clang-format
.clang-tidy
2 changes: 2 additions & 0 deletions cfg/camera.cfg
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Expand Up @@ -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"))
1 change: 1 addition & 0 deletions include/galaxy_camera.h
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Expand Up @@ -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

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6 changes: 6 additions & 0 deletions src/galaxy_camera.cpp
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Expand Up @@ -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_);
Expand Down Expand Up @@ -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)
{
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