public static void main(String[] args) throws URISyntaxException { RosMainNode mainNode = new RosMainNode(new URI("http://cpu0:11311"), "testDC"); RosDynamicReconfigure testDynamicReconfigure = new RosDynamicReconfigure("/left/camera/camera_nodelet", mainNode); mainNode.execute(); System.out.println("exposure:" + testDynamicReconfigure.setParameters(null).get("exposure")); testDynamicReconfigure.setDouble("exposure", -0.2); Map<String,Object> param = new HashMap<>(), ret; param.put("exposure", -0.1); ret=testDynamicReconfigure.setParameters(param); System.out.println(ret.get("exposure")); System.out.println("exposure:" + testDynamicReconfigure.setParameters(null).get("exposure")); System.exit(0); }
public Map<String, Object> getParameters() { return setParameters(null); } }
public BlackFlyParameterSetter(RosMainNode rosMainNode, RobotSide side, String cameraNode, PacketCommunicator packetCommunicator) { this.packetCommunicator = packetCommunicator; this.dynamicReconfigureClient = new RosDynamicReconfigure(cameraNode, rosMainNode); this.side = side; this.cameraNodeName = cameraNode; packetCommunicator.attachListener(BlackFlyParameterPacket.class, this); setupUIOnConnectResponder(); }
@Override public void receivedPacket(UIConnectedPacket packet) { sendDeviceSettingToUI(dynamicReconfigureClient.getParameters()); PrintTools.info(this, "UIConnected - send parameters"); } });
public void receivedPacket(final BlackFlyParameterPacket packet) { if (dynamicReconfigureClient.isConnected()) { if (packet.isFromUI() && packet.getSide() == BlackFlyParameterSetter.this.side) //avoid hearing my own packet { new Thread("BlackflyDynamicReconfigureSetter") { public void run() { Map<String, Object> result = setBlackFlyParameters(packet); sendDeviceSettingToUI(result); } }.start(); } else { PrintTools.info(this, "blackfly dynamic reconfigure serivce not ready, skipping " + packet); } } } }
public Map<String, Object> getParameters() { return setParameters(null); } }
public BlackFlyParameterSetter(RosMainNode rosMainNode, RobotSide side, String cameraNode, PacketCommunicator packetCommunicator) { this.packetCommunicator = packetCommunicator; this.dynamicReconfigureClient = new RosDynamicReconfigure(cameraNode, rosMainNode); this.side = side; this.cameraNodeName = cameraNode; packetCommunicator.attachListener(BlackFlyParameterPacket.class, this); setupUIOnConnectResponder(); }
@Override public void receivedPacket(UIConnectedPacket packet) { sendDeviceSettingToUI(dynamicReconfigureClient.getParameters()); PrintTools.info(this, "UIConnected - send parameters"); } });
public void receivedPacket(final BlackFlyParameterPacket packet) { if (dynamicReconfigureClient.isConnected()) { if (packet.isFromUI() && packet.getSide() == BlackFlyParameterSetter.this.side) //avoid hearing my own packet { new Thread("BlackflyDynamicReconfigureSetter") { public void run() { Map<String, Object> result = setBlackFlyParameters(packet); sendDeviceSettingToUI(result); } }.start(); } else { PrintTools.info(this, "blackfly dynamic reconfigure serivce not ready, skipping " + packet); } } } }
public static void main(String[] args) throws URISyntaxException { RosMainNode mainNode = new RosMainNode(new URI("http://cpu0:11311"), "testDC"); RosDynamicReconfigure testDynamicReconfigure = new RosDynamicReconfigure("/left/camera/camera_nodelet", mainNode); mainNode.execute(); System.out.println("exposure:" + testDynamicReconfigure.setParameters(null).get("exposure")); testDynamicReconfigure.setDouble("exposure", -0.2); Map<String,Object> param = new HashMap<>(), ret; param.put("exposure", -0.1); ret=testDynamicReconfigure.setParameters(param); System.out.println(ret.get("exposure")); System.out.println("exposure:" + testDynamicReconfigure.setParameters(null).get("exposure")); System.exit(0); }
public Map<String, Object> setBlackFlyParameters(BlackFlyParameterPacket packet) { PrintTools.debug(DEBUG, this, "packet fr UI " + packet); Map<String, Object> parameters = new HashMap<>(); parameters.put("auto_exposure", packet.isAutoExposure()); parameters.put("auto_gain", packet.isAutoGain()); parameters.put("auto_shutter", packet.isAutoShutter()); parameters.put("exposure", packet.getExposure()); parameters.put("gain", packet.getGain()); parameters.put("shutter_speed", packet.getShutter()); parameters.put("frame_rate", packet.getFrameRate()); return dynamicReconfigureClient.setParameters(parameters); }
public BlackFlyParameterSetter(RosMainNode rosMainNode, RobotSide side, String cameraNode, PacketCommunicator packetCommunicator) { this.packetCommunicator = packetCommunicator; this.dynamicReconfigureClient = new RosDynamicReconfigure(cameraNode, rosMainNode); this.side = side; this.cameraNodeName = cameraNode; packetCommunicator.attachListener(BlackFlyParameterPacket.class, this); setupUIOnConnectResponder(); }
@Override public void receivedPacket(UIConnectedPacket packet) { sendDeviceSettingToUI(dynamicReconfigureClient.getParameters()); PrintTools.info(this, "UIConnected - send parameters"); } });
public void receivedPacket(final BlackFlyParameterPacket packet) { if (dynamicReconfigureClient.isConnected()) { if (packet.getFromUi() && packet.getRobotSide() == BlackFlyParameterSetter.this.side.toByte()) //avoid hearing my own packet { new Thread("BlackflyDynamicReconfigureSetter") { public void run() { Map<String, Object> result = setBlackFlyParameters(packet); sendDeviceSettingToUI(result); } }.start(); } else { PrintTools.info(this, "blackfly dynamic reconfigure serivce not ready, skipping " + packet); } } } }
public Map<String, Object> setBlackFlyParameters(BlackFlyParameterPacket packet) { PrintTools.debug(DEBUG, this, "packet fr UI " + packet); Map<String, Object> parameters = new HashMap<>(); parameters.put("auto_exposure", packet.isAutoExposure()); parameters.put("auto_gain", packet.isAutoGain()); parameters.put("auto_shutter", packet.isAutoShutter()); parameters.put("exposure", packet.getExposure()); parameters.put("gain", packet.getGain()); parameters.put("shutter_speed", packet.getShutter()); parameters.put("frame_rate", packet.getFrameRate()); return dynamicReconfigureClient.setParameters(parameters); }
public Map<String, Object> setBlackFlyParameters(BlackFlyParameterPacket packet) { PrintTools.debug(DEBUG, this, "packet fr UI " + packet); Map<String, Object> parameters = new HashMap<>(); parameters.put("auto_exposure", packet.getAutoExposure()); parameters.put("auto_gain", packet.getAutoGain()); parameters.put("auto_shutter", packet.getAutoShutter()); parameters.put("exposure", packet.getExposure()); parameters.put("gain", packet.getGain()); parameters.put("shutter_speed", packet.getShutter()); parameters.put("frame_rate", packet.getFrameRate()); return dynamicReconfigureClient.setParameters(parameters); }