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Add /camera/set_write_customer_data and /camera/set_read_customer_data service for Gemini 435Le

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This commit is contained in:
jj
2025-05-12 16:15:38 +08:00
parent 0a7be79738
commit 06abdf679a
2 changed files with 64 additions and 0 deletions
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orbbec_camera/include/orbbec_camera/ob_camera_node.h
+8
View File
@@ -325,6 +325,12 @@ class OBCameraNode {
void switchIRCameraCallback(const std::shared_ptr<SetString::Request>& request,
std::shared_ptr<SetString::Response>& response);
void setWriteCustomerData(const std::shared_ptr<SetString::Request>& request,
std::shared_ptr<SetString::Response>& response);
void setReadCustomerData(const std::shared_ptr<SetString::Request>& request,
std::shared_ptr<SetString::Response>& response);
void setIRLongExposureCallback(const std::shared_ptr<std_srvs::srv::SetBool::Request>& request,
std::shared_ptr<std_srvs::srv::SetBool::Response>& response);
@@ -470,6 +476,8 @@ class OBCameraNode {
rclcpp::Service<SetBool>::SharedPtr set_auto_white_balance_srv_;
rclcpp::Service<GetString>::SharedPtr get_sdk_version_srv_;
rclcpp::Service<SetString>::SharedPtr switch_ir_camera_srv_;
rclcpp::Service<SetString>::SharedPtr set_write_customerdata_srv_;
rclcpp::Service<SetString>::SharedPtr set_read_customerdata_srv_;
rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr set_ir_long_exposure_srv_;
std::map<stream_index_pair, rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr>
set_auto_exposure_srv_;
orbbec_camera/src/ros_service.cpp
+56
View File
@@ -206,6 +206,16 @@ void OBCameraNode::setupCameraCtrlServices() {
std::shared_ptr<SetBool::Response> response) {
setSYNCHostimeCallback(request, response);
});
set_write_customerdata_srv_ = node_->create_service<SetString>(
"set_write_customer_data", [this](const std::shared_ptr<SetString::Request> request,
std::shared_ptr<SetString::Response> response) {
setWriteCustomerData(request, response);
});
set_read_customerdata_srv_ = node_->create_service<SetString>(
"set_read_customer_data", [this](const std::shared_ptr<SetString::Request> request,
std::shared_ptr<SetString::Response> response) {
setReadCustomerData(request, response);
});
}
void OBCameraNode::setExposureCallback(const std::shared_ptr<SetInt32::Request>& request,
@@ -1048,4 +1058,50 @@ void OBCameraNode::setSYNCHostimeCallback(
}
}
void OBCameraNode::setWriteCustomerData(const std::shared_ptr<SetString::Request>& request,
std::shared_ptr<SetString::Response>& response) {
if (request->data.empty()) {
response->success = false;
response->message = "set write customer data is empty";
return;
}
try {
device_->writeCustomerData(request->data.c_str(), request->data.size());
response->message = "set write customer data is " + request->data;
response->success = true;
return;
} catch (const ob::Error& e) {
response->message = e.getMessage();
response->success = false;
} catch (const std::exception& e) {
response->message = e.what();
response->success = false;
} catch (...) {
response->message = "unknown error";
response->success = false;
}
}
void OBCameraNode::setReadCustomerData(const std::shared_ptr<SetString::Request>& request,
std::shared_ptr<SetString::Response>& response) {
(void)request;
try {
std::vector<uint8_t> customer_date;
customer_date.resize(40960);
uint32_t customer_date_len = 0;
device_->readCustomerData(customer_date.data(), &customer_date_len);
std::string customer_date_str(customer_date.begin(), customer_date.end());
response->message = "read customer data is " + customer_date_str;
response->success = true;
return;
} catch (const ob::Error& e) {
response->message = e.getMessage();
response->success = false;
} catch (const std::exception& e) {
response->message = e.what();
response->success = false;
} catch (...) {
response->message = "unknown error";
response->success = false;
}
}
} // namespace orbbec_camera