Adding the auto shutter range properties to the configuration.

.gitignore

@@ -0,0 +1,4 @@
+/pointgrey_camera_driver/cmake-build-debug/
+
+# JetBrains IDE
+/pointgrey_camera_driver/.idea/

pointgrey_camera_driver/cfg/PointGrey.cfg

@@ -123,6 +123,10 @@ gen.add("white_balance_blue", int_t,    SensorLevels.RECONFIGURE_RUNNING,     "W
 
 gen.add("white_balance_red",  int_t,    SensorLevels.RECONFIGURE_RUNNING,     "White balance red component.",				             		             550, 0, 1023)
 
+gen.add("auto_shutter_range_min", int_t, SensorLevels.RECONFIGURE_RUNNING,    "Auto Shutter Range Minimum",                                                    1, 1, 4095)
+
+gen.add("auto_shutter_range_max", int_t, SensorLevels.RECONFIGURE_RUNNING,    "Auto Shutter Range Maximum",                                                 4095, 1, 4095)
+
 # Format7-specific parameters
 gen.add("format7_roi_width", int_t, SensorLevels.RECONFIGURE_STOP,         "Width of Format7 Region of Interest in unbinned pixels, full width if zero.",                 0, 0, 65535)
 

pointgrey_camera_driver/include/pointgrey_camera_driver/PointGreyCamera.h

@@ -270,6 +270,18 @@ class PointGreyCamera
   */
   bool setWhiteBalance(bool& auto_white_balance, uint16_t &blue, uint16_t &red);
 
+  /*!
+  * \brief Sets the auto shutter range property
+  *
+  * This function will set the auto shutter range for the camera..  If value is outside the range of min and max,
+  * it will return false.
+  * \param min_value Minimum value for the auto shutter range setting.
+  * \param max_value Maximum value for the auto shutter range setting.
+  *
+  * \return Returns true when the configuration could be applied without modification.
+  */
+  bool setAutoShutterRange(uint32_t min_value, uint32_t max_value);
+
   /*!
   * \brief Gets the current frame rate.
   *

pointgrey_camera_driver/src/PointGreyCamera.cpp

@@ -142,6 +142,9 @@ bool PointGreyCamera::setNewConfiguration(pointgrey_camera_driver::PointGreyConf
   config.white_balance_blue = blue;
   config.white_balance_red = red;
 
+  // Set auto shutter range
+  retVal &= PointGreyCamera::setAutoShutterRange(config.auto_shutter_range_min, config.auto_shutter_range_max);
+
   // Set trigger
   switch (config.trigger_polarity)
   {
@@ -624,6 +627,35 @@ bool PointGreyCamera::setWhiteBalance(bool &auto_white_balance, uint16_t &blue,
   return true;
 }
 
+bool PointGreyCamera::setAutoShutterRange(uint32_t min_value, uint32_t max_value)
+{
+    if (min_value > max_value || min_value > 4095 || max_value > 4095 || min_value == 0) {
+        return false;
+    }
+
+    // Get camera info to check if color or black and white chameleon
+    CameraInfo cInfo;
+    Error error = cam_.GetCameraInfo(&cInfo);
+    handleError("PointGreyCamera::setAutoShutterRange  Failed to get camera info.", error);
+
+    unsigned auto_shutter_range_addr = 0x1098;
+    unsigned enable = 1 << 31;
+
+    const uint16_t mask = 0b111111111111;
+
+    min_value &= mask;
+    max_value &= mask;
+
+    uint32_t register_value = enable | (min_value << 12) | max_value;
+
+    error = cam_.WriteRegister(auto_shutter_range_addr, enable);
+    handleError("PointGreyCamera::setAutoShutterRange  Failed to write to register.", error);
+
+    error = cam_.WriteRegister(auto_shutter_range_addr, register_value);
+    handleError("PointGreyCamera::setAutoShutterRange  Failed to write to register.", error);
+    return true;
+}
+
 void PointGreyCamera::setTimeout(const double &timeout)
 {
   FC2Config pConfig;