add param TriggerCacheEnable

Author: Sorrowa

config/camera.yaml

@@ -8,7 +8,7 @@ Camera:
   frame_rate: 10.0
 
   # 触发模式
-  Trigger: false
+  Trigger: true
   # 触发源
   # 0:Line0
   # 1:Line1
@@ -17,7 +17,7 @@ Camera:
   # 4:Counter0
   # 7:Software
   # 8:FrequencyConverter
-  Tigger_line: 2
+  Tigger_line: 0
   # 触发上升沿、下降沿、高电平、低电平等
   # 0:RisingEdge
   # 1:FallingEdge
@@ -26,6 +26,7 @@ Camera:
   Trigger_action: 0
   # 触发延时 ≥0.0 ，单位 us
   Trigger_delay: 0.0
+  Trigger_cache_enable: true
 
   # 自动曝光
   # 0:Off
@@ -61,4 +62,4 @@ Camera:
   # 伽马调节
   Gamma_value: 1.0
   # Gamma 选择
-  Gamma_selector: 1
+  Gamma_selector: 1

src/camera.cpp

@@ -27,6 +27,7 @@ namespace HIKCAMERA
         int trigger_line;
         int trigger_action;
         float trigger_delay;
+        bool trigger_cache;
         int Exposure;
         float Exposure_time;
         int ExposureTimeUp, ExposureTimeLow;
@@ -43,6 +44,7 @@ namespace HIKCAMERA
         private_nh.param<int>("Camera/Tigger_line", trigger_line, 2);
         private_nh.param<int>("Camera/Trigger_action", trigger_action, 0);
         private_nh.param<float>("Camera/Trigger_delay", trigger_delay, 0.0);
+        private_nh.param<bool>("Camera/Trigger_cache_enable", trigger_cache, false);
         private_nh.param<int>("Camera/Exposure", Exposure, 2);
         private_nh.param<float>("Camera/Exposure_time", Exposure_time, 10000.0);
         private_nh.param<int>("Camera/ExposureTimeUp", ExposureTimeUp, 6000);
@@ -93,6 +95,8 @@ namespace HIKCAMERA
                 }
                 setFloatValue("TriggerDelay", trigger_delay);
                 ROS_INFO_STREAM("TriggerDelay set to " << trigger_delay << "us.");
+                setBoolValue("TriggerCacheEnable", trigger_cache);
+                ROS_INFO_STREAM("TriggerCacheEnable set to " << trigger_cache);
             }
             else
             {