mirror of
https://github.com/orbbec/OrbbecSDK_ROS2.git
synced 2026-10-05 20:47:46 +08:00
79 lines
3.0 KiB
C++
79 lines
3.0 KiB
C++
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/*******************************************************************************
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* Copyright (c) 2026 Orbbec 3D Technology, Inc
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*******************************************************************************/
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#include "orbbec_camera/gige_action_command_node.h"
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#include <exception>
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#include <functional>
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#include <sstream>
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#include <string>
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#include "rclcpp_components/register_node_macro.hpp"
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namespace orbbec_camera {
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namespace {
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std::string formatObError(const ob::Error& error) {
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std::ostringstream stream;
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stream << (error.getMessage() ? error.getMessage() : "Unknown OB error")
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<< " status:" << static_cast<int>(error.getStatus());
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return stream.str();
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}
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} // namespace
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GigEActionCommandNode::GigEActionCommandNode(const rclcpp::NodeOptions& node_options)
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: Node("gige_action_command_node", node_options), context_(std::make_unique<ob::Context>()) {
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context_->enableNetDeviceEnumeration(true);
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send_action_command_service_ = create_service<orbbec_camera_msgs::srv::SendActionCommand>(
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"~/send_action_command", std::bind(&GigEActionCommandNode::sendActionCommandCallback, this,
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std::placeholders::_1, std::placeholders::_2));
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RCLCPP_INFO(get_logger(), "GigE Action Command service is ready");
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}
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void GigEActionCommandNode::sendActionCommandCallback(
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const std::shared_ptr<orbbec_camera_msgs::srv::SendActionCommand::Request> request,
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std::shared_ptr<orbbec_camera_msgs::srv::SendActionCommand::Response> response) {
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if (!request) {
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response->success = false;
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response->message = "Invalid request";
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return;
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}
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const std::string destination_ip =
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request->destination_ip.empty() ? "255.255.255.255" : request->destination_ip;
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try {
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response->success =
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context_->sendActionCommand(request->device_key, request->group_key, request->group_mask,
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destination_ip.c_str(), request->scheduled_time);
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response->message =
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response->success ? "Action Command dispatched" : "SDK failed to send Action Command";
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} catch (const ob::Error& error) {
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response->success = false;
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response->message = formatObError(error);
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} catch (const std::exception& error) {
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response->success = false;
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response->message = error.what();
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} catch (...) {
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response->success = false;
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response->message = "Unknown error";
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}
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}
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} // namespace orbbec_camera
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RCLCPP_COMPONENTS_REGISTER_NODE(orbbec_camera::GigEActionCommandNode)
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