// Walk the DOM tree, i.e. the tree represented by the XML file in the camera, and that contains all the various features, parameters, etc. void PrintDOMTree(ArvGc *pGenicam, NODEEX nodeex, int nIndent) { char *szIndent=0; const char *szFeature=0; const char *szDomName=0; const char *szFeatureValue=0; szIndent = new char[nIndent+1]; memset(szIndent,' ',nIndent); szIndent[nIndent]=0; nodeex = GetGcFirstChild(pGenicam, nodeex); if (nodeex.pNode) { do { if (ARV_IS_GC_FEATURE_NODE((ArvGcFeatureNode *)nodeex.pNode)) { szDomName = arv_dom_node_get_node_name(nodeex.pNode); szFeature = arv_gc_feature_node_get_name((ArvGcFeatureNode *)nodeex.pNode); szFeatureValue = arv_gc_feature_node_get_value_as_string((ArvGcFeatureNode *)nodeex.pNode, NULL); if (szFeature && szFeatureValue && szFeatureValue[0]) ROS_INFO("FeatureName: %s%s, %s=%s", szIndent, szDomName, szFeature, szFeatureValue); } PrintDOMTree(pGenicam, nodeex, nIndent+4); // Go to the next sibling. nodeex = GetGcNextSibling(pGenicam, nodeex); } while (nodeex.pNode && nodeex.pNodeSibling); } } //PrintDOMTree()
int main(int argc, char *argv[]) { ArvDevice *device; ArvStream *stream; ArvCamera *camera; ArvGcFeatureNode *feature; guint64 n_completed_buffers; guint64 n_failures; guint64 n_underruns; GOptionContext *context; GError *error = NULL; void (*old_sigint_handler)(int); int i, payload; arv_g_thread_init (NULL); arv_g_type_init (); context = g_option_context_new (NULL); g_option_context_set_summary (context, "Test of heartbeat robustness while continuously changing a feature."); g_option_context_add_main_entries (context, arv_option_entries, NULL); if (!g_option_context_parse (context, &argc, &argv, &error)) { g_option_context_free (context); g_print ("Option parsing failed: %s\n", error->message); g_error_free (error); return EXIT_FAILURE; } g_option_context_free (context); arv_debug_enable (arv_option_debug_domains); camera = arv_camera_new (arv_option_camera_name); if (!ARV_IS_CAMERA (camera)) { printf ("Device not found\n"); return EXIT_FAILURE; } device = arv_camera_get_device (camera); stream = arv_camera_create_stream (camera, NULL, NULL); if (!ARV_IS_STREAM (stream)) { printf ("Invalid device\n"); } else { payload = arv_camera_get_payload (camera); if (ARV_IS_GV_STREAM (stream)) { g_object_set (stream, //"socket-buffer", ARV_GV_STREAM_SOCKET_BUFFER_AUTO, "socket-buffer", ARV_GV_STREAM_SOCKET_BUFFER_FIXED, "socket-buffer-size", payload*6, "packet-timeout", 1000 * 1000, "frame-retention", 100 * 1000, "packet-resend", ARV_GV_STREAM_PACKET_RESEND_ALWAYS, NULL); } for (i = 0; i < 100; i++) arv_stream_push_buffer(stream, arv_buffer_new(payload, NULL)); arv_camera_set_acquisition_mode(camera, ARV_ACQUISITION_MODE_CONTINUOUS); feature = ARV_GC_FEATURE_NODE (arv_device_get_feature (device, arv_option_feature_name)); arv_camera_start_acquisition (camera); old_sigint_handler = signal (SIGINT, set_cancel); while (!cancel) { ArvBuffer *buffer = arv_stream_timeout_pop_buffer(stream, 2000000); if (buffer) { usleep(10); arv_stream_push_buffer (stream, buffer); } if (!(++i%5)) { char *value; if ((i/100) % 2 == 0) value = g_strdup_printf ("%d", arv_option_min); else value = g_strdup_printf ("%d", arv_option_max); fprintf (stderr, "Setting %s from %s to %s\n", arv_option_feature_name, arv_gc_feature_node_get_value_as_string (feature, NULL), value); arv_gc_feature_node_set_value_from_string (feature, value, NULL); g_free (value); } } signal (SIGINT, old_sigint_handler); arv_stream_get_statistics (stream, &n_completed_buffers, &n_failures, &n_underruns); printf ("\nCompleted buffers = %Lu\n", (unsigned long long) n_completed_buffers); printf ("Failures = %Lu\n", (unsigned long long) n_failures); printf ("Underruns = %Lu\n", (unsigned long long) n_underruns); arv_camera_stop_acquisition (camera); } g_object_unref (camera); return 0; }