From d1312dc0c6a2b43a3cc4557bd8b25108d71524bf Mon Sep 17 00:00:00 2001
From: MikoMikarro <lopezcuestam@gmail.com>
Date: Sat, 20 May 2023 18:25:20 +0200
Subject: [PATCH 1/3] Adding framerate control for Vimva v6

---
 cfg/AvtVimbaCamera.cfg            | 1 +
 launch/Mako_G-319.launch          | 2 ++
 launch/mono_camera.launch         | 2 ++
 launch/mono_camera_nodelet.launch | 2 ++
 src/avt_vimba_camera.cpp          | 5 +++++
 5 files changed, 12 insertions(+)

diff --git a/cfg/AvtVimbaCamera.cfg b/cfg/AvtVimbaCamera.cfg
index d35d0700..c75c0a8d 100755
--- a/cfg/AvtVimbaCamera.cfg
+++ b/cfg/AvtVimbaCamera.cfg
@@ -160,6 +160,7 @@ exposure_mode_enum = gen.enum([gen.const("Timed", str_t, "Timed", "[Default] Cam
 # ACQUISITION
 gen.add("acquisition_mode",       str_t,    SensorLevels.RECONFIGURE_STOP,    "Camera acquisition mode", "Continuous", edit_method = acquisition_mode_enum)
 gen.add("acquisition_rate",       double_t, SensorLevels.RECONFIGURE_RUNNING, "Sets the expected triggering rate in externally triggered mode.", 10, 1, 35)
+gen.add("acquisition_rate_enable",       bool_t, SensorLevels.RECONFIGURE_RUNNING, "Allows to fix acquisition rate, if available", False)
 # TRIGGER
 gen.add("trigger_source",         str_t,    SensorLevels.RECONFIGURE_STOP,    "Camera trigger source", "FixedRate", edit_method = trigger_source_enum)
 gen.add("trigger_mode",           str_t,    SensorLevels.RECONFIGURE_STOP,    "Camera trigger mode", "On", edit_method = trigger_mode_enum)
diff --git a/launch/Mako_G-319.launch b/launch/Mako_G-319.launch
index 9f98b474..b2731137 100644
--- a/launch/Mako_G-319.launch
+++ b/launch/Mako_G-319.launch
@@ -5,6 +5,7 @@
   <arg name="guid" default="" doc="The GUID for the camera to connect to"/>
   <arg name="camera_info_url" default="file://$(find avt_vimba_camera)/calibrations/calibration_example.yaml"/>
   <arg name="acquisition_rate" default="10" doc="Camera framerate (Hz)"/>
+  <arg name="acquisition_rate_enable" default="False" doc="Allow fixed camera framerate"/>
 
   <include file="$(find avt_vimba_camera)/launch/mono_camera.launch">
     <arg name="name" value="$(arg name)"/>
@@ -13,6 +14,7 @@
     <arg name="guid" value="$(arg guid)"/>
     <arg name="camera_info_url" value="$(arg camera_info_url)"/>
     <arg name="acquisition_rate" value="$(arg acquisition_rate)"/>
+    <arg name="acquisition_rate_enable" default="$(arg acquisition_rate_enable)"/>
 
     <!-- Params specific to Mako G-319 -->
     <arg name="pixel_format" value="BayerRG8"/>
diff --git a/launch/mono_camera.launch b/launch/mono_camera.launch
index e2dcd06d..bf1bcc7b 100644
--- a/launch/mono_camera.launch
+++ b/launch/mono_camera.launch
@@ -17,6 +17,7 @@
   <!-- Acquisition -->
   <arg name="acquisition_mode" default="Continuous"/>
   <arg name="acquisition_rate" default="10"/>
+  <arg name="acquisition_rate_enable" default="False"/>
   <!-- Trigger -->
   <arg name="trigger_source" default="FixedRate"/>
   <arg name="trigger_mode" default="On"/>
@@ -93,6 +94,7 @@
 
     <param name="acquisition_mode" value="$(arg acquisition_mode)"/>
     <param name="acquisition_rate" value="$(arg acquisition_rate)"/>
+    <param name="acquisition_rate_enable" value="$(arg acquisition_rate_enable)"/>
 
     <param name="trigger_source" value="$(arg trigger_source)"/>
     <param name="trigger_mode" value="$(arg trigger_mode)"/>
diff --git a/launch/mono_camera_nodelet.launch b/launch/mono_camera_nodelet.launch
index 88a128bc..72486000 100644
--- a/launch/mono_camera_nodelet.launch
+++ b/launch/mono_camera_nodelet.launch
@@ -14,6 +14,7 @@
   <!-- Acquisition -->
   <arg name="acquisition_mode" default="Continuous"/>
   <arg name="acquisition_rate" default="10"/>
+  <arg name="acquisition_rate_enable" default="False"/>
   <!-- Trigger -->
   <arg name="trigger_source" default="FixedRate"/>
   <arg name="trigger_mode" default="On"/>
@@ -93,6 +94,7 @@
 
     <param name="acquisition_mode" value="$(arg acquisition_mode)"/>
     <param name="acquisition_rate" value="$(arg acquisition_rate)"/>
+    <param name="acquisition_rate_enable" value="$(arg acquisition_rate_enable)"/>
 
     <param name="trigger_source" value="$(arg trigger_source)"/>
     <param name="trigger_mode" value="$(arg trigger_mode)"/>
diff --git a/src/avt_vimba_camera.cpp b/src/avt_vimba_camera.cpp
index d430aeee..6188d2af 100644
--- a/src/avt_vimba_camera.cpp
+++ b/src/avt_vimba_camera.cpp
@@ -837,9 +837,14 @@ void AvtVimbaCamera::updateAcquisitionConfig(Config& config)
   {
     configureFeature("AcquisitionMode", config.acquisition_mode, config.acquisition_mode);
   }
+  if (config.acquisition_rate_enable != config_.acquisition_rate_enable || on_init_)
+  {
+    configureFeature("AcquisitionFrameRateEnable", static_cast<bool>(config.acquisition_rate_enable), config.acquisition_rate_enable); 
+  }
   if (config.acquisition_rate != config_.acquisition_rate || on_init_)
   {
     configureFeature("AcquisitionFrameRateAbs", static_cast<float>(config.acquisition_rate), config.acquisition_rate);
+    configureFeature("AcquisitionFrameRate", static_cast<float>(config.acquisition_rate), config.acquisition_rate); // NEW  CAMERAS USE THIS PARAMETER
   }
   if (config.trigger_mode != config_.trigger_mode || on_init_)
   {

From 50b8e687f0b2e27e26f984519d314042a8bc6837 Mon Sep 17 00:00:00 2001
From: MikoMikarro <lopezcuestam@gmail.com>
Date: Thu, 25 May 2023 21:19:05 +0200
Subject: [PATCH 2/3] Update AvtVimbaCamera.cfg

changed white spacing to align all parameters
---
 cfg/AvtVimbaCamera.cfg | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/cfg/AvtVimbaCamera.cfg b/cfg/AvtVimbaCamera.cfg
index c75c0a8d..802e7032 100755
--- a/cfg/AvtVimbaCamera.cfg
+++ b/cfg/AvtVimbaCamera.cfg
@@ -160,7 +160,7 @@ exposure_mode_enum = gen.enum([gen.const("Timed", str_t, "Timed", "[Default] Cam
 # ACQUISITION
 gen.add("acquisition_mode",       str_t,    SensorLevels.RECONFIGURE_STOP,    "Camera acquisition mode", "Continuous", edit_method = acquisition_mode_enum)
 gen.add("acquisition_rate",       double_t, SensorLevels.RECONFIGURE_RUNNING, "Sets the expected triggering rate in externally triggered mode.", 10, 1, 35)
-gen.add("acquisition_rate_enable",       bool_t, SensorLevels.RECONFIGURE_RUNNING, "Allows to fix acquisition rate, if available", False)
+gen.add("acquisition_rate_enable",bool_t, SensorLevels.RECONFIGURE_RUNNING, "Allows to fix acquisition rate, if available", False)
 # TRIGGER
 gen.add("trigger_source",         str_t,    SensorLevels.RECONFIGURE_STOP,    "Camera trigger source", "FixedRate", edit_method = trigger_source_enum)
 gen.add("trigger_mode",           str_t,    SensorLevels.RECONFIGURE_STOP,    "Camera trigger mode", "On", edit_method = trigger_mode_enum)

From ff9d30e4990e568a88357fce16a4888c4771e7c3 Mon Sep 17 00:00:00 2001
From: MikoMikarro <lopezcuestam@gmail.com>
Date: Fri, 26 May 2023 17:38:20 +0200
Subject: [PATCH 3/3] Update Mako_G-319.launch

---
 launch/Mako_G-319.launch | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/launch/Mako_G-319.launch b/launch/Mako_G-319.launch
index b2731137..bb4abfbf 100644
--- a/launch/Mako_G-319.launch
+++ b/launch/Mako_G-319.launch
@@ -14,7 +14,7 @@
     <arg name="guid" value="$(arg guid)"/>
     <arg name="camera_info_url" value="$(arg camera_info_url)"/>
     <arg name="acquisition_rate" value="$(arg acquisition_rate)"/>
-    <arg name="acquisition_rate_enable" default="$(arg acquisition_rate_enable)"/>
+    <arg name="acquisition_rate_enable" value="$(arg acquisition_rate_enable)"/>
 
     <!-- Params specific to Mako G-319 -->
     <arg name="pixel_format" value="BayerRG8"/>