Not able to change pins Line2 and Line3 mode with camera Ace2

[Typos91]

Describe what you want to implement and what the issue & the steps to reproduce it are:

I use an Ace 2 camera a2A5320-34gmBAS, and I am trying to connect a light which will be controlled through the camera.

For this, I need to be able to activate or deactivates the Lines 2 and 3. I want to change their mode to Output, and then choose 2 different sources for each line: UserOutput1 and UserOutput2 for instance, so that I can control them "manually".
I referred to the pylon's documentation to understand the process.

Using the ROS2 driver, I understand that I have to use the services to execute all different steps:

• Select the Line I want to modify: int 1 for Line 2
• Change the line mode to Output: int 1 for Output
• Set the Line source to the right source: int 2 for UserOutput1. Here, I can only change the source to UserOutput1 according to the ros2 driver's documentation, however in the Pylon's documentation it states that UserOutput1,2 and 3 are available for my camera.
• Activate or deactivate the chosen source: bool

This operation has worked using the Pylon Viewer, and the different UserOutput sources appear

However, when I try to change the mode of Line2, I get this error:

[pylon_ros2_camera_wrapper-1] ... [basler.pylon.ros2.pylon_ros2_gige_camera] [ERROR] Error : the selected line number does not have change line mode

I tried to change the mode of line 3 but I get the same error.

I searched inside the driver, it seems to me that the error might come from the file pylon_ros2_camera_gige.hpp, in the method setLineMode.

Here is an extract of my code:

SetLineSelector_client = this->create_client<SetIntegerSrv>("my_camera/pylon_ros2_camera_node/set_line_selector");
SetLineMode_client = this->create_client<SetIntegerSrv>("my_camera/pylon_ros2_camera_node/set_line_mode");

 /*============================================Selecting line 2 ====================================================*/
 auto line_selector_request = std::make_shared<SetIntegerSrv::Request>();
   line_selector_request->value = 1;
   RCLCPP_INFO(this->get_logger(), "Waiting for service SetLineSelector to be avalailable");
   while(!SetLineSelector_client->wait_for_service(1s))
   {
       if (!rclcpp::ok())
       {
           RCLCPP_ERROR(this->get_logger(), "Interrupted while waiting for the service . Exiting");
           return;
       }
       RCLCPP_INFO(this->get_logger(), "service not available, waiting again...");
   }



   RCLCPP_INFO(this->get_logger(), "Service available. Sending request now");
   auto line_selector_response = SetLineSelector_client->async_send_request(line_selector_request);
   if (rclcpp::spin_until_future_complete(this->get_node_base_interface(), line_selector_response) ==
rclcpp::FutureReturnCode::SUCCESS)
   {
       if(line_selector_response.get()->success)
       {
           RCLCPP_INFO(this->get_logger(), "Line 2 selected");
       }
       else
       {
           RCLCPP_ERROR(this->get_logger(), "Failed to select Line 2");
           return;
       }
   }
   else
   {
       RCLCPP_ERROR(this->get_logger(), "Failed to connect to service 'Line Selector'");
   }
   /*============================================Changing line mode to output ====================================================*/



   RCLCPP_INFO(this->get_logger(), "Set Line Mode to 'output', waiting for server to be available");
   while(!SetLineMode_client->wait_for_service(1s))
   {
       if (!rclcpp::ok())
       {
           RCLCPP_ERROR(this->get_logger(), "Interrupted while waiting for the service . Exiting");
           return;
       }
       RCLCPP_INFO(this->get_logger(), "service not available, waiting again...");
   }
   auto line_mode_request = std::make_shared<SetIntegerSrv::Request>();
   line_mode_request->value = 1; // 1 for output
   auto line_mode_response = SetLineMode_client->async_send_request(line_mode_request);
   if (rclcpp::spin_until_future_complete(this->get_node_base_interface(), line_mode_response) ==
rclcpp::FutureReturnCode::SUCCESS)
   {
       if (line_mode_response.get()->success)
       {
           RCLCPP_INFO(this->get_logger(), "Line mode set to output");
       }
       else
       {
           RCLCPP_ERROR(this->get_logger(), "Failed to set line mode to output");
           return;
       }
   }

I also tried to do this after having stopped the grabbing, since I saw in the method setLineSourceCallback from pylon_ros2_camera_node.cpp, that errors could occur if I try to change line's mode while grabbing images with the camera.

Then, I have two questions:

• Is there another step to do before that I might have missed, to be able to change the line mode ?
• When the line mode is changed to output, how can I select different UserOutput sources for each line using the services ?

Hardware setup description

PC :

• CPU architecture x86_64
• Operating system : Ubuntu 22.04
• RAM 8 GiB

Interfaces used to connect the camera:

• Ace 2 camera a2A5320-34gmBAS
• Power source : 20 VDC
• no switches/hubs
• Cable : Basler Power-I/O Cable, M8 6p/open, P; 5m
• Light connected: LXE300 Direct Connect Linear Light
• Pin used for the connection to the light bar : Line2 -->change mode of the light (Continuous or strobe), Line3 -->NPN Trigger

Runtime information

pylon info: 7.4.0.38864 64-Bit

----------------------------------------

pylon Setup info: 7.4.0.14900 

----------------------------------------

pylon Application info: 2.1.0.14100 64-Bit

----------------------------------------

pylon Viewer info: 7.4.0.14100 64-Bit

----------------------------------------

Host system infos:




CPU architecture: x86_64

Kernel type: linux

Kernel version: 6.5.0-35-generic

OS type: ubuntu

OS version: 22.04

----------------------------------------

Screen(s):




Screen 0 scale factor: 1

Screen 0 resolution: 1920x1080

----------------------------------------

Window(s):




"pylon Viewer 64-Bit" on screen 0

----------------------------------------

Host network infos:




Host network adapter enp3s0:

   Name: enp3s0

   MAC address: 00:D8:61:E5:6C:D4




Host network adapter wlo1:

   Name: wlo1

   MAC address: 40:EC:99:EB:6B:4E

   IP address: 128.39.51.43

   Subnet mask: 255.255.255.128




Host network adapter docker0:

   Name: docker0

   MAC address: 02:42:5C:0C:49:A9

   IP address: 172.12.0.1

   Subnet mask: 255.255.255.0

---------------------------------------
Ros distro : Humble

Is your camera operational with the Basler pylon Viewer on your platform?

Yes

[FrancoisPicardDTI]

Hello @Typos91
I committed some changes regarding the services related to the line selector, mode, and source. Can you test your code with the new version please?

[Typos91]

Hello,
It works perfectly now, thank you !

[FrancoisPicardDTI]

Great!
For the sake of documentation:

• Line1 is always Input mode, Line2 is always Output mode, but the other lines can be both. This was not implemented like that.
• I added the UserOutput2 and UserOutput3 sources. New sources can be added if needed, the code is documented accordingly.

I am closing the issue.