Merge pull request #36 from open-dynamic-robot-initiative/fkloss/writ…

…e_deviceuserid

Add pylon_write_device_user_id_to_camera

CHANGELOG.md

@@ -7,6 +7,8 @@
   script `check_camera_sharpness` to easily test different parameters on live camera
   data.  This can be used, for example, to automatically detect if a camera is
   significantly out of focus.
+- Executable `pylon_write_device_user_id_to_camera` to set the "DeviceUserID" of
+  Pylon cameras.
 
 ### Removed
 - Obsolete script `verify_calibration.py`

CMakeLists.txt

@@ -120,6 +120,19 @@ if (${Pylon_FOUND})
     list(APPEND install_targets pylon_list_cameras)
 
 
+    add_executable(
+        pylon_write_device_user_id_to_camera
+        src/pylon_write_device_user_id_to_camera.cpp
+    )
+    target_include_directories(pylon_write_device_user_id_to_camera PUBLIC
+        $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+        $<INSTALL_INTERFACE:include>
+        ${Pylon_INCLUDE_DIRS}
+    )
+    target_link_libraries(pylon_write_device_user_id_to_camera ${Pylon_LIBRARIES})
+    list(APPEND install_targets pylon_write_device_user_id_to_camera)
+
+
     # Set library names to variables, so we can use the variable instead of the
     # direct name below.  In case, Pylon drivers are not built, the variables
     # will be empty and thus not cause trouble when used for linking etc.

LICENSE

@@ -1,3 +1,8 @@
+This license applies to all files of this repository unless specified
+differently in the file's header.
+
+----
+
 BSD 3-Clause License
 
 Copyright (c) 2019, Max Planck Gesellschaft.

doc/pylon.rst

@@ -17,17 +17,48 @@ Install Pylon SDK
 
        sudo tar -C /opt -xzf pylonSDK*.tar.gz
 
-4. Install udev-rules to set up permissions for basler USB cameras::
+4. Install udev rules to set up permissions for basler USB cameras::
 
        ./setup-usb.sh
 
 
-Using Pylon in Singularity
-==========================
+Using Pylon in Apptainer
+========================
 
-Pylon is currently not installed in the Singularity image so it needs to be
-installed on the host system.  To be able to use it from inside Singularity,
-the installation path needs to be bound when running the image::
+When accessing the cameras from within Apptainer containers, you need to either
+install the Pylon SDK in the container, or you can simply bind it from the host system (assuming it's installed there) using
 
-    singularity shell -B /opt/pylon5 blmc_ei.sif
+.. code-block:: text
 
+    apptainer shell --bind=/opt/pylon5 container.sif
+
+Note that even if the Pylon SDK is installed in the container, it may be needed
+to set up the udev rules on the host system (see last step in the section
+above).
+
+
+Configuring Cameras
+===================
+
+The Pylon camera drivers in trifinger_cameras expect a unique "DeviceUserID"
+written to the camera to be able to identify it (especially important for the
+:cpp:class:`~trifinger_cameras::TriCameraDriver` where the three cameras need to
+be distinguished.
+
+This ID can be set using using the ``pylon_write_device_user_id_to_camera``
+command that is included in the package, using the following steps:
+
+1. Connect the camera to the computer.  **Make sure no other camera is
+   connected** (the tool will simply write to the first camera found).
+2. Run
+
+   .. code-block:: sh
+
+      ros2 run trifinger_cameras pylon_write_device_user_id_to_camera "some_id"
+
+Once written, the "DeviceUserID" will be displayed by the PylonViewerApp
+(unfortunately it's not possible to modifiy it there).
+
+For the TriFinger robots, we use the IDs "camera60", "camera180" and "camera300"
+based on their approximate angular position relative to the fingers, see
+:ref:`trifinger_docs:finger_and_camera_names`.

src/pylon_write_device_user_id_to_camera.cpp

@@ -0,0 +1,107 @@
+/******************************************************************************
+ * Software License Agreement (BSD License)
+ *
+ * Copyright (C) 2016, Magazino GmbH. All rights reserved.
+ *
+ * Improved by drag and bot GmbH (www.dragandbot.com), 2019
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *   * Redistributions of source code must retain the above copyright notice,
+ *     this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above copyright
+ *     notice, this list of conditions and the following disclaimer in the
+ *     documentation and/or other materials provided with the distribution.
+ *   * Neither the names of Magazino GmbH nor the names of its
+ *     contributors may be used to endorse or promote products derived from
+ *     this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *****************************************************************************/
+
+// taken from
+// https://github.com/basler/pylon-ros-camera/blob/ed094fad02eed38af830a052c7420befc6483ef3/pylon_camera/src/pylon_camera/write_device_user_id_to_camera.cpp
+
+/*
+ This program will open a Basler Pylon Camera and write a desired camera id.
+*/
+
+#include <pylon/PylonIncludes.h>
+#include <unistd.h>
+#include <algorithm>
+#include <string>
+
+int main(int argc, char* argv[])
+{
+    if (argc < 2)
+    {
+        std::cerr << "ERROR: No device_user_id set!" << std::endl;
+        std::cout << "USAGE: write_device_user_id_to_camera DEVICE_USER_ID"
+                  << std::endl;
+        return 1;
+    }
+
+    // TODO: regular expression, instead of only catching 2 '_'
+    std::string desired_device_user_id(reinterpret_cast<char*>(argv[1]));
+    if (desired_device_user_id.empty())
+    {
+        std::cout << "ERROR:" << std::endl;
+        std::cout << "Your desired device_user_id is empty!" << std::endl;
+        return 2;
+    }
+
+    // Before using any pylon methods, the pylon runtime must be initialized.
+    Pylon::PylonInitialize();
+
+    try
+    {
+        Pylon::CDeviceInfo di;
+
+        // TODO: Multiple cameras connected? -> Don't use first device found
+        // TODO: Write IP to Camera?
+
+        // Create an instant camera object with the camera device found first.
+        Pylon::CInstantCamera camera(
+            Pylon::CTlFactory::GetInstance().CreateFirstDevice(di));
+
+        camera.Open();
+
+        while (!camera.IsOpen())
+        {
+            usleep(1000);
+        }
+
+        GenApi::INodeMap& node_map = camera.GetNodeMap();
+        GenApi::CStringPtr current_device_user_id(
+            node_map.GetNode("DeviceUserID"));
+        current_device_user_id->SetValue(
+            Pylon::String_t(desired_device_user_id.c_str()));
+
+        std::cout << "Successfully wrote " << current_device_user_id->GetValue()
+                  << " to the camera " << camera.GetDeviceInfo().GetModelName()
+                  << std::endl;
+        camera.Close();
+    }
+    catch (GenICam::GenericException& e)
+    {
+        // Error handling.
+        std::cerr << "An exception occurred." << std::endl
+                  << e.GetDescription() << std::endl;
+        return 3;
+    }
+
+    // Releases all pylon resources.
+    Pylon::PylonTerminate();
+
+    return 0;
+}