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Make blaze camera support conditional on header availability #285

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Make blaze camera support conditional on header availability #285

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9 changes: 9 additions & 0 deletions pylon_ros2_camera_component/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -43,6 +43,15 @@ endif()
# message("-> Pylon library directories: ${Pylon_LIBRARY_DIRS}")
# message("-> Pylon libraries: ${Pylon_LIBRARIES}")

# Check for blaze camera support (requires pylon Supplementary Package for blaze)
find_file(PYLON_BLAZE_HEADER "pylon/BlazeInstantCamera.h" PATHS ${Pylon_INCLUDE_DIRS} NO_DEFAULT_PATH)
if(PYLON_BLAZE_HEADER)
message(STATUS "Pylon blaze support: ENABLED")
add_compile_definitions(HAVE_PYLON_BLAZE)
else()
message(STATUS "Pylon blaze support: DISABLED (pylon/BlazeInstantCamera.h not found)")
endif()

find_package(ament_cmake REQUIRED)
find_package(pylon_ros2_camera_interfaces REQUIRED)
find_package(rclcpp REQUIRED)
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2 changes: 2 additions & 0 deletions pylon_ros2_camera_component/include/internal/pylon_ros2_camera_impl.hpp
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Expand Up @@ -476,4 +476,6 @@ class PylonROS2CameraImpl : public PylonROS2Camera
#include "internal/impl/pylon_ros2_camera_dart.hpp"
#include "internal/impl/pylon_ros2_camera_gige.hpp"
#include "internal/impl/pylon_ros2_camera_gige_ace2.hpp"
#ifdef HAVE_PYLON_BLAZE
#include "internal/impl/pylon_ros2_camera_blaze.hpp"
#endif
4 changes: 4 additions & 0 deletions pylon_ros2_camera_component/src/pylon_ros2_camera.cpp
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Expand Up @@ -128,6 +128,7 @@ PYLON_CAM_TYPE detectPylonCamType(const Pylon::CDeviceInfo& device_info)
return UNKNOWN;
}
}
#ifdef HAVE_PYLON_BLAZE
else if (device_class == "BaslerGTC/Basler/GenTL_Producer_for_Basler_blaze_101_cameras")
{
if (device_info.IsModelNameAvailable())
Expand All @@ -138,6 +139,7 @@ PYLON_CAM_TYPE detectPylonCamType(const Pylon::CDeviceInfo& device_info)

return BLAZE;
}
#endif
else
{
RCLCPP_ERROR_STREAM(LOGGER, "The detected camera type is: " << device_class << ". "
Expand Down Expand Up @@ -169,8 +171,10 @@ std::unique_ptr<PylonROS2Camera> createFromDevice(PYLON_CAM_TYPE cam_type, Pylon
return std::make_unique<PylonROS2USBCamera>(device);
case DART:
return std::make_unique<PylonROS2DARTCamera>(device);
#ifdef HAVE_PYLON_BLAZE
case BLAZE:
return std::make_unique<PylonROS2BlazeCamera>(device);
#endif
case UNKNOWN:
default:
return nullptr;
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