From 1ccf18d85a6fe96391538bfa14e0e9e7f45d4204 Mon Sep 17 00:00:00 2001
From: Bernd Pfrommer <bernd.pfrommer@gmail.com>
Date: Mon, 8 Jul 2024 15:22:18 -0400
Subject: [PATCH] add support for transport layer and stream params

---
 spinnaker_camera_driver/config/blackfly.yaml     | 13 +++++++++++++
 spinnaker_camera_driver/config/blackfly_s.yaml   |  7 +++++++
 .../launch/driver_node.launch.py                 |  7 ++++---
 spinnaker_camera_driver/src/genicam_utils.cpp    | 16 +++++++++++++---
 4 files changed, 37 insertions(+), 6 deletions(-)

diff --git a/spinnaker_camera_driver/config/blackfly.yaml b/spinnaker_camera_driver/config/blackfly.yaml
index 541747e..de060c3 100644
--- a/spinnaker_camera_driver/config/blackfly.yaml
+++ b/spinnaker_camera_driver/config/blackfly.yaml
@@ -172,3 +172,16 @@ parameters:
   - name: chunk_enable_timestamp
     type: bool
     node: ChunkDataControl/ChunkEnable
+  #
+  # ------- stream layer
+  #
+  - name: "stream_buffer_handling_mode"
+    type: enum
+    # valid values: "NewestFirst", "OldestFirst", "NewestOnly", "OldestFirstOverwrite"
+    node: BufferHandlingControl/StreamBufferHandlingMode
+  #
+  # ------- transport layer
+  #
+  - name: "multicast_monitor_mode"
+    type: bool
+    node: "DeviceControl/DeviceMulticastMonitorMode"
diff --git a/spinnaker_camera_driver/config/blackfly_s.yaml b/spinnaker_camera_driver/config/blackfly_s.yaml
index 6d59255..6900e76 100644
--- a/spinnaker_camera_driver/config/blackfly_s.yaml
+++ b/spinnaker_camera_driver/config/blackfly_s.yaml
@@ -169,3 +169,10 @@ parameters:
   - name: chunk_enable_timestamp
     type: bool
     node: ChunkDataControl/ChunkEnable
+  #
+  # ------- stream layer
+  #
+  - name: "stream_buffer_handling_mode"
+    type: enum
+    # valid values: "NewestFirst", "OldestFirst", "NewestOnly", "OldestFirstOverwrite"
+    node: BufferHandlingControl/StreamBufferHandlingMode
diff --git a/spinnaker_camera_driver/launch/driver_node.launch.py b/spinnaker_camera_driver/launch/driver_node.launch.py
index d25dd54..661e00f 100644
--- a/spinnaker_camera_driver/launch/driver_node.launch.py
+++ b/spinnaker_camera_driver/launch/driver_node.launch.py
@@ -63,8 +63,8 @@
         'chunk_enable_timestamp': True,
     },
     'blackfly': {
-        'debug': True,
-        'dump_node_map': True,
+        'debug': False,
+        'dump_node_map': False,
         'gain_auto': 'Continuous',
         'pixel_format': 'BayerRG8',
         'exposure_auto': 'Continuous',
@@ -73,7 +73,8 @@
         'frame_rate_enable': True,
         'buffer_queue_size': 10,
         'trigger_mode': 'Off',
-        'stream_buffer_handling_mode': 'NewestFirst'
+        # 'stream_buffer_handling_mode': 'NewestFirst',
+        # 'multicast_monitor_mode': False
     },
     'chameleon': {
         'debug': False,
diff --git a/spinnaker_camera_driver/src/genicam_utils.cpp b/spinnaker_camera_driver/src/genicam_utils.cpp
index 15e170c..1c22be8 100644
--- a/spinnaker_camera_driver/src/genicam_utils.cpp
+++ b/spinnaker_camera_driver/src/genicam_utils.cpp
@@ -94,9 +94,19 @@ static std::optional<CNodePtr> find_node(
 std::optional<CNodePtr> find_node(
   const std::string & path, Spinnaker::CameraPtr cam, bool debug, bool allow_unreadable)
 {
-  INodeMap & appLayerNodeMap = cam->GetNodeMap();
-  CNodePtr rootNode = appLayerNodeMap.GetNode("Root");
-  return (find_node(path, rootNode, debug, allow_unreadable));
+  CNodePtr rootNode = cam->GetNodeMap().GetNode("Root");
+  std::optional<CNodePtr> nodeptr = find_node(path, rootNode, debug, allow_unreadable);
+  if (nodeptr) {
+    return (nodeptr);
+  }
+  rootNode = cam->GetTLStreamNodeMap().GetNode("Root");
+  nodeptr = find_node(path, rootNode, debug, allow_unreadable);
+  if (nodeptr) {
+    return (nodeptr);
+  }
+  rootNode = cam->GetTLDeviceNodeMap().GetNode("Root");
+  nodeptr = find_node(path, rootNode, debug, allow_unreadable);
+  return (nodeptr);
 }
 }  // namespace genicam_utils
 }  // namespace spinnaker_camera_driver