allow for unreadable command nodes

Author: shtrophic

spinnaker_camera_driver/src/genicam_utils.cpp

@@ -46,7 +46,7 @@ void get_nodemap_as_string(std::stringstream & ss, Spinnaker::CameraPtr cam)
   ss << s;
 }
 
-static std::optional<CNodePtr> find_node(const std::string & path, CNodePtr & node, bool debug)
+static std::optional<CNodePtr> find_node(const std::string & path, CNodePtr & node, bool debug, bool allow_unreadable)
 {
   // split off first part
   auto pos = path.find("/");
@@ -72,12 +72,12 @@ static std::optional<CNodePtr> find_node(const std::string & path, CNodePtr & no
     if (std::string(childNode->GetName().c_str()) == token) {
       // no slash in name, this is a leaf node
       const bool is_leaf_node = (pos == std::string::npos);
-      if (is_readable(childNode)) {
+      if (allow_unreadable || is_readable(childNode)) {
         if (is_leaf_node) {
           return (childNode);
         } else {
           const std::string rest = path.substr(pos + 1);
-          return (find_node(rest, childNode, debug));
+          return (find_node(rest, childNode, debug, allow_unreadable));
         }
       } else {
         return (CNodePtr(nullptr));  // found, but not readable
@@ -90,11 +90,11 @@ static std::optional<CNodePtr> find_node(const std::string & path, CNodePtr & no
   return (std::nullopt);
 }
 
-std::optional<CNodePtr> find_node(const std::string & path, Spinnaker::CameraPtr cam, bool debug)
+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));
+  return (find_node(path, rootNode, debug, allow_unreadable));
 }
 }  // namespace genicam_utils
 }  // namespace spinnaker_camera_driver

spinnaker_camera_driver/src/genicam_utils.hpp

@@ -29,7 +29,7 @@ namespace genicam_utils
 {
 void get_nodemap_as_string(std::stringstream & ss, Spinnaker::CameraPtr cam);
 std::optional<Spinnaker::GenApi::CNodePtr> find_node(
-  const std::string & path, Spinnaker::CameraPtr cam, bool debug);
+  const std::string & path, Spinnaker::CameraPtr cam, bool debug, bool allow_unreadable = false);
 }  // namespace genicam_utils
 }  // namespace spinnaker_camera_driver
 

spinnaker_camera_driver/src/spinnaker_wrapper_impl.cpp

@@ -247,15 +247,17 @@ std::string SpinnakerWrapperImpl::setInt(const std::string & nn, int val, int *
 
 std::string SpinnakerWrapperImpl::execute(const std::string & nn)
 {
-  const auto np = genicam_utils::find_node(nn, camera_, debug_);
+  const auto np = genicam_utils::find_node(nn, camera_, debug_, true);
   if (!np) {
     return ("node " + nn + " not found!");
   }
-  std::string msg;
-  if (!common_checks(*np, nn, &msg)) {
-    return (msg);
-  }
   auto p = static_cast<GenApi::CCommandPtr>(*np);
+  if (!is_available(p)) {
+    return ("node " + nn + " not available!");
+  }
+  if (!is_writable(p)) {
+    return ("node " + nn + " not writeable");
+  }
   p->Execute();
   return ("OK");
 }