Added parameter for device throughput limit

Author: cedricpradalier

spinnaker_camera_driver/include/spinnaker_camera_driver/SpinnakerCamera.h

@@ -159,6 +159,7 @@ class SpinnakerCamera
   * \param id serial number for the camera.  Should be something like 10491081.
   */
   void setDesiredCamera(const uint32_t& id);
+  void setThroughputLimit(const uint32_t& limit);
 
   void setGain(const float& gain);
   int getHeightMax();
@@ -198,6 +199,8 @@ class SpinnakerCamera
   unsigned int packet_size_;
   /// GigE packet delay:
   unsigned int packet_delay_;
+  /// GigE throughput limit:
+  unsigned int throughput_limit_;
 
   uint64_t timeout_;
 

spinnaker_camera_driver/include/spinnaker_camera_driver/camera.h

@@ -65,6 +65,7 @@ class Camera
   virtual void setGain(const float& gain);
   int getHeightMax();
   int getWidthMax();
+  void setThroughputLimit(const int& limit);
 
   Spinnaker::GenApi::CNodePtr
   readProperty(const Spinnaker::GenICam::gcstring property_name);

spinnaker_camera_driver/src/SpinnakerCamera.cpp

@@ -96,6 +96,12 @@ void SpinnakerCamera::setNewConfiguration(const spinnaker_camera_driver::Spinnak
   }
 }  // end setNewConfiguration
 
+void SpinnakerCamera::setThroughputLimit(const uint32_t& limit)
+{
+  if (camera_)
+    camera_->setThroughputLimit(limit);
+}
+
 void SpinnakerCamera::setGain(const float& gain)
 {
   if (camera_)
@@ -377,6 +383,7 @@ void SpinnakerCamera::grabImage(sensor_msgs::Image* image, const std::string& fr
       Spinnaker::GenICam::gcstring bayer_gb_str = "BayerGB";
       Spinnaker::GenICam::gcstring bayer_bg_str = "BayerBG";
 
+
       // if(isColor_ && bayer_format != NONE)
       if (color_filter_ptr->GetCurrentEntry() != color_filter_ptr->GetEntryByName("None"))
       {

spinnaker_camera_driver/src/camera.cpp

@@ -242,6 +242,12 @@ void Camera::setGain(const float& gain)
   setProperty(node_map_, "Gain", static_cast<float>(gain));
 }
 
+void Camera::setThroughputLimit(const int& limit)
+{
+  setProperty(node_map_, "DeviceLinkThroughputLimit", limit);
+}
+
+
 /*
 void Camera::setGigEParameters(bool auto_packet_size, unsigned int packet_size, unsigned int packet_delay)
 {

spinnaker_camera_driver/src/nodelet.cpp

@@ -302,6 +302,7 @@ class SpinnakerCameraNodelet : public nodelet::Nodelet
     pnh.param<int>("packet_size", packet_size_, 1400);
     pnh.param<bool>("auto_packet_size", auto_packet_size_, true);
     pnh.param<int>("packet_delay", packet_delay_, 4000);
+    pnh.param<int>("throughput_limit", throughput_limit_, 125000000);
 
     // TODO(mhosmar):  Set GigE parameters:
     // spinnaker_.setGigEParameters(auto_packet_size_, packet_size_, packet_delay_);
@@ -518,6 +519,7 @@ class SpinnakerCameraNodelet : public nodelet::Nodelet
             NODELET_DEBUG("Connected to camera.");
 
             // Set last configuration, forcing the reconfigure level to stop
+            spinnaker_.setThroughputLimit(throughput_limit_);
             spinnaker_.setNewConfiguration(config_, SpinnakerCamera::LEVEL_RECONFIGURE_STOP);
 
             // Set the timeout for grabbing images.
@@ -719,6 +721,8 @@ class SpinnakerCameraNodelet : public nodelet::Nodelet
   int packet_size_;
   /// GigE packet delay:
   int packet_delay_;
+  /// GigE throughput limit:
+  int throughput_limit_;
 
   /// Configuration:
   spinnaker_camera_driver::SpinnakerConfig config_;