WIP: SV-10 camera labelling

rover/src/owr_camera_control/script/camera_identification.py

@@ -0,0 +1,60 @@
+#!/usr/bin/env python
+
+## Uniquely Identifies the camera devices
+## If there are issues regarding accessing the full serial number for the cameras, these links may help:
+## http://web.archive.org/web/20120629230817/http://ruggedcircuits.com/html/linux.html
+## https://askubuntu.com/questions/112568/how-do-i-allow-a-non-default-user-to-use-serial-device-ttyusb0/112572#112572
+import usb
+import rospy
+import hashlib
+import os
+import string
+from std_msgs.msg import String
+
+
+#checks if the device has the capacity to be a camera
+#for the cameras used on the rover, the first if statement should be sufficient
+def isCamera(dev, intf):
+        if (dev.bDeviceClass == 14 or intf.bInterfaceClass == 14): return True
+        #if (dev.bDeviceClass == 16 or intf.bInterfaceClass == 16): return True
+        #if (dev.bDeviceClass == 6 or intf.bInterfaceClass == 6): return True
+        return False
+
+def getUniqueIdentifier(dev):
+    if (len(dev.langids) != 0):
+        serial_number = usb.util.get_string(dev, dev.iSerialNumber)
+    else:
+        serial_number = 0
+
+def cameraIdentifier():
+    pub = rospy.Publisher('camera_identication', String, queue_size=10)
+    rospy.init_node('camera_identifer', anonymous=True)
+    rate = rospy.Rate(1) # 10hz
+    while not rospy.is_shutdown():
+        info = "\n"
+        device_added = False
+        all_devices_added = []
+        serial_numbers = []
+        devices = usb.core.find(find_all=True) #finds all devices connected to the system
+        for dev in devices:
+            device_added = False
+            for cfg in dev:
+                for intf in cfg:
+                    if (isCamera(dev, intf)):
+                        serial_number = getUniqueIdentifier(dev)
+                        info += 'Bus %03x, Device %03x, Product: %s| Vendor ID: %s, Product ID: %s, Unqiue Identifer(SN): %s)\n' % (dev.bus, dev.address,  dev.iProduct, dev.idVendor, dev.idProduct, serial_number)
+                        allDevicesAdded.append(serial_number)
+                        device_added = True
+                        break
+                if (device_added == True):
+                    break
+        rospy.loginfo(info)
+        pub.publish(info)
+        rate.sleep()
+
+
+if __name__ == '__main__':
+    try:
+        cameraIdentifier()
+    except rospy.ROSInterruptException:
+        pass