cleanup

src/CameraNode.cpp

@@ -30,7 +30,6 @@
 #include <libcamera/request.h>
 #include <libcamera/stream.h>
 #include <memory>
-// #include <mutex>
 #include <opencv2/core/mat.hpp>
 #include <opencv2/imgcodecs.hpp>
 #include <optional>
@@ -109,9 +108,6 @@ class CameraNode : public rclcpp::Node
 
   // map parameter names to libcamera control id
   std::unordered_map<std::string, const libcamera::ControlId *> parameter_ids;
-  // parameters that are to be set for every request
-  // ParameterHandler::ControlValueMap parameters;
-  // std::mutex parameters_lock;
   // compression quality parameter
   std::atomic_uint8_t jpeg_quality;
 
@@ -191,10 +187,6 @@ CameraNode::CameraNode(const rclcpp::NodeOptions &options)
       param_cb_change(add_post_set_parameters_callback(
         std::bind(&CameraNode::onParameterChange, this, std::placeholders::_1)))
 {
-  // register callback to handle parameter updates
-  // callback_parameter_change = add_post_set_parameters_callback(
-  //   std::bind(&CameraNode::onParameterChange, this, std::placeholders::_1));
-
   // pixel format
   rcl_interfaces::msg::ParameterDescriptor param_descr_format;
   param_descr_format.description = "pixel format of streaming buffer";
@@ -436,8 +428,7 @@ CameraNode::CameraNode(const rclcpp::NodeOptions &options)
   camera->requestCompleted.connect(this, &CameraNode::requestComplete);
 
   libcamera::ControlList controls_ = camera->controls();
-  auto parameters = parameter_handler.get();
-  for (const auto &[id, value] : parameters)
+  for (const auto &[id, value] : parameter_handler.get())
     controls_.set(id, value);
 
   // start camera and queue all requests
@@ -559,19 +550,16 @@ CameraNode::process(libcamera::Request *const request)
     request->reuse(libcamera::Request::ReuseBuffers);
 
     // update parameters
-    // parameters_lock.lock();
-    auto parameters = parameter_handler.get();
+    const ParameterHandler::ControlValueMap parameters = parameter_handler.get();
     if (!parameters.empty()) {
       RCLCPP_DEBUG_STREAM(get_logger(), request->toString() << " setting " << parameters.size() << " controls");
       for (const auto &[id, value] : parameters) {
         const std::string &name = libcamera::controls::controls.at(id)->name();
         RCLCPP_DEBUG_STREAM(get_logger(), "apply " << name << ": " << value.toString());
         request->controls().set(id, value);
       }
-      // parameters.clear();
       parameter_handler.clear();
     }
-    // parameters_lock.unlock();
 
     camera->queueRequest(request);
   }
@@ -580,46 +568,16 @@ CameraNode::process(libcamera::Request *const request)
 rcl_interfaces::msg::SetParametersResult
 CameraNode::onParameterChange(const std::vector<rclcpp::Parameter> &parameters)
 {
-  for (const rclcpp::Parameter &param : parameters) {
-    std::cout << "CameraNode post: " << param.get_name() << std::endl;
-  }
-
   // check non-controls parameters
   for (const rclcpp::Parameter &parameter : parameters) {
-    if (!parameter.get_name().compare("jpeg_quality")) {
+    if (parameter.get_name() == "jpeg_quality") {
       jpeg_quality = parameter.get_parameter_value().get<uint8_t>();
     }
   }
 
-  // DBG:
-  // TODO: this should go into the 'add_post_set_parameters_callback'
   rcl_interfaces::msg::SetParametersResult result;
   result.successful = true;
   return result;
-
-  // ParameterHandler::ControlValueMap controls;
-  // std::vector<std::string> msgs;
-
-  // std::tie(controls, msgs) = parameter_handler.parameterCheckAndConvert(parameters);
-
-  // parameters_lock.lock();
-  // this->parameters = controls;
-  // parameters_lock.unlock();
-
-  // rcl_interfaces::msg::SetParametersResult result;
-  // result.successful = msgs.empty();
-  // if (!msgs.empty()) {
-  //   result.successful = false;
-  //   for (size_t i = 0; i < msgs.size(); i++) {
-  //     if (msgs.size() > 1)
-  //       result.reason += "(" + std::to_string(i) + ") ";
-  //     result.reason += msgs[i];
-  //     if (i < msgs.size() - 1)
-  //       result.reason += "; ";
-  //   }
-  // }
-
-  // return result;
 }
 
 } // namespace camera