From 14b61089071e8c2c4e14b6ef496b3a2dc694f38a Mon Sep 17 00:00:00 2001
From: Boris Gromov <0xff.root@gmail.com>
Date: Thu, 29 Aug 2013 00:17:58 +0900
Subject: [PATCH 1/2] Return corrected parameter value to dynamic_reconfigure

---
 src/nodes/trigger.cpp | 9 +++++++++
 1 file changed, 9 insertions(+)

diff --git a/src/nodes/trigger.cpp b/src/nodes/trigger.cpp
index 5ffb011..f98f9f2 100644
--- a/src/nodes/trigger.cpp
+++ b/src/nodes/trigger.cpp
@@ -439,6 +439,9 @@ bool Trigger::reconfigure(Config *newconfig)
   {
     if (!Trigger::setMode(camera_, triggerMode_))
     {
+      // Possible if driver compiled against different version of libdc1394
+      ROS_ASSERT(triggerMode_ <= DC1394_TRIGGER_MODE_MAX);
+      newconfig->trigger_mode = Trigger::trigger_mode_names_[triggerMode_ - DC1394_TRIGGER_MODE_MIN];
       ROS_ERROR("Failed to set trigger mode");
       is_ok = false;
     }
@@ -455,6 +458,9 @@ bool Trigger::reconfigure(Config *newconfig)
     {
       if (!Trigger::setSource(camera_, triggerSource_))
       {
+        // Possible if driver compiled against different version of libdc1394
+        ROS_ASSERT(triggerSource_ <= DC1394_TRIGGER_SOURCE_MAX);
+        newconfig->trigger_source = Trigger::trigger_source_names_[triggerSource_ - DC1394_TRIGGER_SOURCE_MIN];
         ROS_ERROR("Failed to set trigger source");
         is_ok = false;
       }
@@ -474,6 +480,9 @@ bool Trigger::reconfigure(Config *newconfig)
   {
     if (!Trigger::setPolarity(camera_, triggerPolarity_))
     {
+      // Possible if driver compiled against different version of libdc1394
+      ROS_ASSERT(triggerPolarity_ <= DC1394_TRIGGER_ACTIVE_MAX);
+      newconfig->trigger_polarity = Trigger::trigger_polarity_names_[triggerPolarity_ - DC1394_TRIGGER_ACTIVE_MIN];
       ROS_ERROR("Failed to set trigger polarity");
       is_ok = false;
     }

From 1f69dfdd06bbe36dddbec15525a1e3c2ffe162b3 Mon Sep 17 00:00:00 2001
From: Boris Gromov <0xff.root@gmail.com>
Date: Thu, 29 Aug 2013 01:52:23 +0900
Subject: [PATCH 2/2] Ignore other trigger parameters if 'external_trigger' is
 false

---
 src/nodes/trigger.cpp | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/src/nodes/trigger.cpp b/src/nodes/trigger.cpp
index f98f9f2..da30cc8 100644
--- a/src/nodes/trigger.cpp
+++ b/src/nodes/trigger.cpp
@@ -427,6 +427,9 @@ bool Trigger::reconfigure(Config *newconfig)
     is_ok = false;
   }
 
+  // if external trigger is OFF then ignore rest of parameters
+  if (DC1394_OFF == on_off) return is_ok;
+
   on_off = (dc1394switch_t) newconfig->software_trigger;
   if (!Trigger::setSoftwareTriggerPowerState(camera_, on_off))
   {