first attempt at multiframe acquisition

acquire_zarr/launch/oryx_to_zarr.launch.py

@@ -1,5 +1,4 @@
 from launch_ros.substitutions import FindPackageShare
-
 from launch import LaunchDescription
 from launch_ros.actions import Node
 from launch.actions import OpaqueFunction, IncludeLaunchDescription, DeclareLaunchArgument as LaunchArg
@@ -13,14 +12,27 @@
     'dump_node_map': False,
     'frame_rate_auto': 'Off',
     'buffer_queue_size': 10,
+    # Stack acquisition parameters
+    'acquisition_mode': 'MultiFrame',  # For finite stack capture
+    'frame_count': LaunchConfig('stack_size'),  # Number of images in stack
+    # GPIO configuration
+    'line_selector': LaunchConfig('gpio_line'),  # Select GPIO line
+    'line_linemode': 'Output',  # Configure as output
+    'line_source': 'ExposureActive',  # Signal during exposure
+    # Timing configuration
+    'frame_rate_enable': True,
+    'frame_rate': LaunchConfig('frame_rate'),
+    'exposure_mode': 'Timed',
+    'exposure_auto': 'Off',
+    'exposure_time': LaunchConfig('exposure_time'),
 }
 
 def launch_setup(context, *args, **kwargs):
     """Launch camera driver node."""
     parameter_file = PathJoinSubstitution(
             [FindPackageShare('spinnaker_camera_driver'), 'config', 'oryx.yaml']
         )
-    
+
     camera_node = Node(
         package='spinnaker_camera_driver',
         executable='camera_driver_node',
@@ -31,25 +43,25 @@ def launch_setup(context, *args, **kwargs):
             {
                 'ffmpeg_image_transport.encoding': 'hevc_nvenc',
                 'parameter_file': parameter_file,
-                'serial_number': [LaunchConfig('serial')], #"'23011970'",
+                'serial_number': [LaunchConfig('serial')],
             },
         ],
     )
-    
+
     zarr_writer_node = Node(
         package='acquire_zarr', 
         executable='zarr_writer_node_exe', 
         parameters=[{
             'zarr_out_path': LaunchConfig('zarr_out_path'),
-            'dimension_sizes': [0, LaunchConfig('image_height'), LaunchConfig('image_width')],
+            'dimension_sizes': [LaunchConfig('stack_size'), LaunchConfig('image_height'), LaunchConfig('image_width')],
             'chunk_sizes': [1, LaunchConfig('image_height'), LaunchConfig('image_width')],
         }],
         remappings=[
             ('image_raw', '/oryx/image_raw'),
         ],
         output='screen'
     )
-    
+
     return [camera_node, zarr_writer_node]
 
 def generate_launch_description():
@@ -58,5 +70,9 @@ def generate_launch_description():
         LaunchArg('image_width', default_value='2448', description='Image width'),
         LaunchArg('image_height', default_value='2048', description='Image height'),
         LaunchArg('zarr_out_path', default_value='/tmp/out.zarr', description='zarr output path'),
+        LaunchArg('stack_size', default_value='100', description='Number of images in stack'),
+        LaunchArg('gpio_line', default_value='Line2', description='GPIO line for timing signals'),
+        LaunchArg('frame_rate', default_value='10.0', description='Frame rate in Hz'),
+        LaunchArg('exposure_time', default_value='10000.0', description='Exposure time in microseconds'),
         OpaqueFunction(function=launch_setup)
     ])