From 0a22657f77d783650bffa446b4a1a6395b04bf76 Mon Sep 17 00:00:00 2001
From: jj <957713278@qq.com>
Date: Tue, 26 Nov 2024 18:31:00 +0800
Subject: [PATCH] update about laser revise

---
 orbbec_camera/src/ob_camera_node.cpp | 12 +++++-------
 orbbec_camera/src/ros_service.cpp    | 10 ++++------
 2 files changed, 9 insertions(+), 13 deletions(-)

diff --git a/orbbec_camera/src/ob_camera_node.cpp b/orbbec_camera/src/ob_camera_node.cpp
index 407ffdf6..170dcf1b 100644
--- a/orbbec_camera/src/ob_camera_node.cpp
+++ b/orbbec_camera/src/ob_camera_node.cpp
@@ -218,14 +218,12 @@ void OBCameraNode::setupDevices() {
     TRY_TO_SET_PROPERTY(setBoolProperty, OB_PROP_LDP_BOOL, enable_ldp_);
   }
   if (device_->isPropertySupported(OB_PROP_LASER_CONTROL_INT, OB_PERMISSION_READ_WRITE)) {
+    RCLCPP_INFO_STREAM(logger_, "Setting G300 laser control to " << enable_laser_);
+TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_LASER_CONTROL_INT, enable_laser_);
+  }
+    if (device_->isPropertySupported(OB_PROP_LASER_BOOL, OB_PERMISSION_READ_WRITE)) {
     RCLCPP_INFO_STREAM(logger_, "Setting laser control to " << enable_laser_);
-    auto device_info = device_->getDeviceInfo();
-    auto pid = device_info->getPid();
-    if (isGemini335PID(pid)) {
-      TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_LASER_CONTROL_INT, enable_laser_);
-    } else {
-      TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_LASER_BOOL, enable_laser_);
-    }
+TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_LASER_BOOL, enable_laser_);
   }
   if (device_->isPropertySupported(OB_PROP_LASER_ON_OFF_MODE_INT, OB_PERMISSION_READ_WRITE)) {
     RCLCPP_INFO_STREAM(logger_, "Setting laser on off mode to " << laser_on_off_mode_);
diff --git a/orbbec_camera/src/ros_service.cpp b/orbbec_camera/src/ros_service.cpp
index a7468d77..e468b18a 100644
--- a/orbbec_camera/src/ros_service.cpp
+++ b/orbbec_camera/src/ros_service.cpp
@@ -184,9 +184,9 @@ void OBCameraNode::setupCameraCtrlServices() {
                                           std::shared_ptr<SetInt32::Response> response) {
         setSYNCInterleaveLaserCallback(request, response);
       });
-    set_sync_host_time_srv_ = node_->create_service<SetBool>(
+  set_sync_host_time_srv_ = node_->create_service<SetBool>(
       "set_sync_hosttime", [this](const std::shared_ptr<SetBool::Request> request,
-                                    std::shared_ptr<SetBool::Response> response) {
+                                  std::shared_ptr<SetBool::Response> response) {
         setSYNCHostimeCallback(request, response);
       });
 }
@@ -479,13 +479,11 @@ void OBCameraNode::setLaserEnableCallback(
     std::shared_ptr<std_srvs::srv::SetBool::Response>& response) {
   (void)request_header;
   (void)response;
-  auto device_info = device_->getDeviceInfo();
-  auto pid = device_info->getPid();
   int laser_enable = request->data ? 1 : 0;
   try {
-    if (isGemini335PID(pid)) {
+    if (device_->isPropertySupported(OB_PROP_LASER_CONTROL_INT, OB_PERMISSION_READ_WRITE)) {
       device_->setIntProperty(OB_PROP_LASER_CONTROL_INT, laser_enable);
-    } else {
+    } else if (device_->isPropertySupported(OB_PROP_LASER_BOOL, OB_PERMISSION_READ_WRITE)) {
       device_->setIntProperty(OB_PROP_LASER_BOOL, laser_enable);
     }
     response->success = true;