camera_lucid.orogen

# frozen_string_literal: true

name "camera_lucid"
# Optionally declare the version number
# version "0.1"

# If new data types need to be defined, they have to be put in a separate C++
# header, and this header will be loaded here
import_types_from "camera_lucidTypes.hpp"
# Finally, it is pretty common that headers are directly loaded from an external
# library. In this case, the library must be first used (the name is the
# library's pkg-config name) and then the header can be used. Following Rock
# conventions, a common use-case would be:
#
using_library "camera_lucid_arenasdk"
# import_types_from "camera_lucid_arenasdk"
# import_types_from "camera_lucid/CustomType.hpp"

# If this project uses data types that are defined in other oroGen projects,
# these projects should be imported there as well.
import_types_from "std"
import_types_from "base"

OroGen::Spec::Deployment.register_global_initializer(:lucid_arena_sdk)
if defined?(OroGen::Gen::RTT_CPP::Deployment)
    OroGen::Gen::RTT_CPP::Deployment.register_global_initializer(
        :lucid_arena_sdk,
        deployment_cmake: <<~GST_DEPLOYMENT_CMAKE,
            orogen_pkg_check_modules(camera_lucid_arenasdk REQUIRED camera_lucid_arenasdk)
            include_directories(${camera_lucid_arenasdk_INCLUDE_DIRS})
            add_definitions(${camera_lucid_arenasdk_CFLAGS_OTHER})
            link_directories(${camera_lucid_arenasdk_LIBRARY_DIRS})
            target_link_libraries(<%= deployer.name %> ${camera_lucid_arenasdk_LIBRARIES})
        GST_DEPLOYMENT_CMAKE
        global_scope: <<~GST_TOPLEVEL,
            #include <camera_lucid/System.hpp>
        GST_TOPLEVEL
        init: <<~GST_INIT,
            camera_lucid::System::Init();
        GST_INIT
        exit: <<~GST_EXIT
            camera_lucid::System::Deinit();
        GST_EXIT
    )
end

task_context "Task" do
    needs_configuration
    needs_global_initializer :lucid_arena_sdk

    # Camera Configuration:
    # Ip, reset timeout, and update info frequency
    property "camera_config", "camera_lucid/CameraConfig"

    # Binning Configuration:
    # columns and/or rows of pixels are combined to achieve a reduced overall image size
    # without changing the image's field of view. This feature may result in an increase
    # of camera s frame rate.
    property "binning_config", "camera_lucid/BinningConfig"

    # Decimation Configuration:
    # columns and/or rows of pixel are skipped to achieve reduced overall image size
    # without changing the image's field of view. This feature is also known as
    # "subsampling" due to the smaller sample size of pixels the camera transmits. This
    # feature may result in an increase of camera's frame rate.
    property "decimation_config", "camera_lucid/DecimationConfig"

    # Analog Controller Config
    property "analog_controller_config", "camera_lucid/AnalogControllerConfig"

    # PTP configuration
    property "ptp_config", "camera_lucid/PTPConfig"

    # Image Configuration
    property "image_config", "camera_lucid/ImageConfig"

    # Transmission configuration
    property "transmission_config", "camera_lucid/TransmissionConfig"

    output_port "frame", ro_ptr("base/samples/frame/Frame")
    output_port "info", "camera_lucid/CameraInfo"

    periodic 0.01
end